Design And Research On Mobile Platform Of Smart Farm Logistics Robot

With the introduction of the concepts of smart agriculture and smart farms and the rapid development of modern technology,the level of agricultural intelligence in China is constantly improving.As an important part of the construction of smart farms,the development level of agricultural robot determines the modernization of smart farms and smart agriculture.In smart farms,the efficient transportation of agricultural products and agricultural production materials is of great significance for reducing the labor intensity of operators and improving production efficiency.Logistics robot mobile platforms play an important role in various transportation processes.So this article designs a robot mobile platform based on the logistics operation scenario under the smart farm,which can effectively improve the efficiency and intelligence of logistics operations.The main research content of this article is as follows:(1)Based on the specific work scenario of the smart farm,with the principle of efficiently completing logistics operations and considering various factors,the technical indicators of the logistics robot mobile platform were proposed,and the overall design of the mobile platform was carried out according to the indicators.We have determined the electric driven four-wheel drive differential robot model,completed the design of the walking mechanism,driving system,wireless communication system,navigation system,safety protection system,and information display module of the robot mobile platform,and selected various functional components.Afterwards,we established a three-dimensional model of the mobile platform in Solid Works,and finally gave a brief introduction to the workflow of the mobile platform.(2)We conducted motion control and algorithm analysis on the robot mobile platform,and specifically analyzed three motion control strategies for the mobile platform: uniform linear motion,in-place turning motion,and sliding turning motion.Conduct force analysis on the mobile platform in both horizontal and vertical climbing states and draw the conclusion:when the platform is driven by rear wheels in longitudinal climbing,the maximum climbing angle is 13 °;When the platform adopts four-wheel drive and the maximum climbing angle is 22 °,it proves the superiority of choosing the four-wheel drive scheme in this paper.When climbing horizontally,the maximum climbing angle is related to the selection of the driving surface and tires.In the visual navigation system,methods such as median filtering,Canny operator,and least squares polynomial curve fitting are selected to complete the image processing of visual navigation.(3)Complete the control system design for the mobile platform based on functional requirements.In the software system design,a modular approach was adopted to complete the overall framework,walking control,remote control,navigation control,information display,and obstacle avoidance modules.In the upper computer status monitoring system,the interface design,communication development,and data storage development of the upper computer monitoring system were completed according to specific work requirements.(4)The overall construction of the designed mobile platform was carried out.After the construction was completed,the mobile platform was divided into modules and tested as a whole.According to the test results,the communication,navigation,obstacle avoidance,and upper computer monitoring functional modules of the mobile platform performed well;The mobile platform can complete 5cm obstacle crossing and 22 ° climbing,with an offset of8.6cm in straight driving tests.The maximum speed of the platform is 1.514m/s,and it can achieve a range of over 3.4h at a speed of 1m/s,with a total range of over 12 km.The above indicators all meet the design requirements of mobile platforms.