| Facility agriculture is one of the main modes of production in modern agriculture,and the intelligent degree of facility agriculture equipment reflects the level of agricultural modernization.It is of great significance for automatic operation to develop a general mobile operation platform with different operation modules to cooperate with different production processes.In the design of general mobile operation platform in facility agriculture environment,as one of the key technologies of autonomous mobile operation,automatic navigation control technology can effectively improve the efficiency and accuracy of operation.The principle of automatic navigation control is to sense the surrounding environment information through its own sensors in a completely unattended situation,and then according to the pre-planned path,the navigation controller makes decisions to control the mobile platform to run along the preset path automatically.This paper mainly studies the automatic navigation of mobile platform in facility agriculture environment,and guarantees its flexibility to adapt to the facility agriculture environment.UWB navigation and positioning method is selected,and the path tracking control method and steering control system are simulated and tested respectively.The main tasks are as follows:(1)Based on the practicability and the flexibility of adapting the facility agriculture environment,the system scheme of the mobile operation platform for facility agriculture environment was designed.The system design requirements of mobile operation platform are analyzed,and the overall design scheme including mechanical structure,positioning system and control system is given.(2)Comparing and analyzing caterpillar and wheeled traveling mechanism under facility agriculture environment,the kinematics model of wheeled traveling mechanism is established.By controlling steering push rod and driving wheel motor,the mobile platform is controlled to travel along the preset path in real time.(3)Aiming at the problem of autonomous navigation of mobile operation platform in facility agriculture environment with narrow and complex characteristics,a simple and effective navigation controller for mobile operation platform is developed by using UWB navigation modeand pure tracking algorithm to realize the purpose of automatic navigation.As an important technical equipment in facility agriculture,mobile operation platform represents the development direction of facility agriculture modernization,with a far-reaching impact on upgrading the production equipment automation of facility agriculture in China.The experimental results show that the UWB positioning accuracy is less than 7 cm,the linear average lateral deviation of the mobile platform is less than 13 cm,and the rectangular path average lateral deviation is less than 14 cm.It shows that the automatic navigation and control system designed in this paper has higher navigation accuracy. |
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