Design And Experimental Verification Of Omnidirectional Agricultural Monitoring And Control Platform With UC/OS-? System

As an intelligent and precision mechanical equipment,Agricultural robot represents the future direction of the development of intelligent agricultural equipment.In the serious context of the rapid development of urbanization construction and aging population,agricultural robot plays a very important role in the development of modern agricultural machinery.As an open experimental platform for the application and development of agricultural robots,agricultural monitoring and control platform plays an important role in expanding function and promoting development of agricultural robots.There are less studies on the omnidirectional monitoring and control platform of agricultural robot in the domestic and international research.Therefore,the omnidirectional monitoring and control platform of agricultural robot was studied in this paper by the methods of computer simulation and experimental verification.The main contents and conclusions are listed as follows:(1)Based on the analysis of the advantages and disadvantages of the existing wheeled omni-directional moving mechanism,the structural scheme of the omni-directional agricultural monitoring and control platform was determined.The necessary conditions for omnidirectional motion Mecanum wheel are derived by analyzing the exercise capacity of omni-directional motion Mecanum wheel.Through optimization of four structural layouts Mecanum wheel,the structural scheme of the wheel set is determined.There are 10 types moving schemes designed on the basis of the optimizing wheel structure scheme.(2)Three-dimensional modeling of the omni-directional agricultural monitoring and control platform was designed by Solidworks.Based on the 3D model,the multi-body dynamics of the platform was simulated by MATLAB/Sim Mechanics software.The driving algorithm and PID paramenters of the online tuning were designed in order that the platform can run more stably.The correctness of the theoretical analysis and simulation algorithm is verified by analyzing the centroid displacement curve of the platform output.(3)According to the requirements of the platform peripherals for the microcontroller built-in peripherals,the system hardware platform was set up in the STM32F103ZET6 microcontroller.The uC/OS-? system was chosen as the platform for real-time operating systems by analyzing the advantages and disadvantages of common embedded operating system.And the peripheral interface and communication program were designed in the uC / OS-? system.(4)The host computer program of omni-directional agricultural monitoring and control platform was designed in LabVIEW software.TCP communication protocol was used between the host computer and the lower computer for information transmission.The lower computer sends the measured body information and external environment information to TCP Sever via GPRS.And different types of information were displayed in the host computer on the different interface through the information analysis of host computer program.(5)On the basis of theoretical analysis and multi-body dynamics simulation,the first generation prototype was produced.The feasibility and reliability of the whole system are verified by the test of the first generation prototype.