摘要
温室移动机器人是为适应设施农业的要求而在近年来发展起来的一种农业高新技术。为了满足机器人的工作要求,设计开发了基于LabVIEW的温室移动机器人导航系统。该系统由机械本体、PC机、数据采集卡、电磁感应传感器、高频信号发生器和直流电机PWM驱动系统组成。机器人行走轨迹的诱导信号由埋设在田间的通有高频电流的导线产生,利用一对电磁感应传感器的信号电压差值判断机器人位置。计算机根据传感器提供的信息,采用模糊控制算法规划行驶路径,实现了温室移动机器人的自动行走。控制软件以虚拟仪器技术为核心,基于LabVIEW平台设计了人性化的人机交互界面。运行试验表明,系统实时性强,可靠性高,具有良好的应用前景。
Mobile Robot for greenhouse is a kind of agricultural advanced technique developing recently to adapt to the request of construction agriculture.For the sake of meeting needs of robot for greenhouse,the navigation system based LabVIEW is developed,which is composed of mechanism,computer,data acquisition card,electromagnetic induction sensor,high frequency signal generator,and DC PWM system.The guidance signal of the robot track is emitted by electrical wire with high frequency current.Signal voltage difference between a pair of electromagnetic induction sensors are adopted to judge the position of the robot.The route of the robot is planed by the computer by means of fuzzy algorithm according to the information of the sensor.Based on the virtual instrument technology,a humanized human-computer interface is designed.Experiments explains that the system owns high real-time performance and dependability,and that it has a good application prospect.
出处
《农机化研究》
北大核心
2011年第3期182-185,共4页
Journal of Agricultural Mechanization Research
基金
山东省自然科学基金项目(Y2008G32)
