Study On The Examination Technology Of Robot Position For The Gardening Of Fruits And Vegetables

As the robotics been extensively used, especially in the agriculture,the robot can not only raise the productivity,solve the problem of the short of labour force, but also improve the hygienic environment and make the labourer working in more safety environment. The mobile robots have been the trend of the robotics development, So,as the base of that, the localization for mobile robot is very important.After doing much review and analysis on the agricultural robots and doing a lot of research on many kinds of localization technology, we chose one of them, which is more suitable for the robots that work in the orchard and vegetable garden. Based on the rotary encoder, we made a title disign of the robot localization, and founded a hardware testing system,it is made up of walking system, encoder,counting panel, computer, interface equipment and power supply, based on these, we have founded the mathematic model of mobile robot localization.The programming of simulation test system is based on VB6.0, and the system is used to do simulation tests above researching of the robot localtion.We suppose that the feetback coefficient between the wheel and the ground of the wheeled mobile Robot is 5%, and the speed is 2m/s, 5m/s and 10m/s,the testing orbit is straight line, round and curve, the program could imitate a robot walking along the testing orbit and get the testing data.From the observation of testing result and discussing about the reasons of error, we can find that the speed of robot could do little influence to the precision of localization. The resolution of encoder could have some influence for the testing precision, the higher resolution of encode we choose,the better testing precision we could get. When the robots walk farther and farther, the error of robot's direction and position will getting larger and larger, so, the add up error is one of the main reason that influent the testing precision.The reason of feetback between wheel and the ground seemed more important,it is easy to see in the result,that if there isn't any feetback between wheel and ground, the orbits we got by simulation tests are similar as it got by theory formula, but if there is feetback, the error is very clear.Based on the result, we have verified that the mathematic model and the simulation test of mobile robot localization with encoder is currect and reasonable, it's workably to use encoder on the examination of robot position for the gardening of fruits and vegetables.