| In order to solve the problems of inefficient inspection and complex and inefficient data acquisition and transmission faced by manual inspection methods in traditional agricultural production,this paper relies on Yangling Modern Agricultural Comprehensive Demonstration Station and through the analysis of its production needs,proposes a park-scale agricultural inspection robot,which obtains the surrounding environment information in real time through the data collection unit and micro-climate sensor,and performs the automatic inspection task all day and night.In addition,the inspection robot system is tested and verified in the simulation environment,laboratory environment and field environment,and the specific work is as follows:(1)In view of the current problems of high time-consuming and low efficiency of manual inspection,this paper analyzes the functional and non-functional requirements of autonomous inspection robots based on the actual production needs of grapes and kiwifruit parks in the demonstration station.Then,a suspended agricultural inspection robot based on the scale of the park area was designed and proposed.(2)In order to ensure the operational stability of the inspection robot,first analyze and determine the device selection of the industrial control machine,motion control unit,data acquisition unit,power supply and wireless communication unit,and then design the structure of the robot body and the control cabin,and finally systematically test the equipment connection,image and meteorological data acquisition,the results show that the image acquisition unit can acquire and transmit optical and infrared images in real time,and the meteorological sensor can collect and store temperature and humidity,light intensity,and humidity according to the setting.Environmental data such as carbon dioxide concentration and ambient sound.(3)In view of the mobile control problem of the inspection robot,the control and response method of the inspection robot based on ROS(Robot Operating System)is designed,and the mobile control service system based on ROS is built.In order to solve the problem of transmission and storage of images and meteorological data in agricultural parks,the user information database,equipment information database,meteorological information database,inspection point database,etc.are designed and constructed,and the robot background management system is built,and the LNMP(Linux+Nginx+My SQL+PHP)server is used to push the video stream by real time messaging protocol(RTMP).(4)In order to verify and optimize the effectiveness of mobile control positioning,wireless communication and data transmission of agricultural inspection robots,this paper first analyzes the specific test requirements and designs the corresponding test plan.The results show that the maximum straight error of the robot in the simulation environment is3.10%,the speed control error is 3.07%,the maximum cumulative error of the motor in the laboratory environment is 1% of the total distance,and the overall label positioning error is also within the range of 1%.Finally,the operation tests on sunny,rainy and snowy days were carried out in the on-site environment of the demonstration station,and the relative running time error in the three environments was less than 3%. |
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