Multi-sensor fusion greenhouse automatic following platform and control method thereof

Abstract

The invention provides a multi-sensor fusion greenhouse automatic following platform and a control method thereof. The multi-sensor fusion greenhouse automatic following platform comprises a positioning device, an obstacle detection device, a main controller, a platform execution device and an auxiliary communication module, and the positioning device comprises a UWB base station and a waistband; the wearable waistband is provided with a UWB tag, a six-axis gyroscope, a height sensor, a positioning controller, a wireless transmission module sending end and a mobile power supply. Firstly, the relative distance between a worker and a platform is obtained through a UWB base station, the worker is subjected to distance measurement positioning through an intelligent algorithm, a main controller combines obstacle avoidance device information, an improved artificial potential field method is adopted for path planning, fuzzy control is combined with a platform kinematics model to follow a path, and therefore, the real-time following effect of the platform is achieved.

Description

technical field [0001] The invention belongs to the field of intelligent agricultural equipment, and in particular relates to a multi-sensor fusion greenhouse automatic following platform and a control method thereof. Background technique [0002] In recent years, the area of ​​greenhouses in my country has continued to expand. At the end of 2016, the national greenhouses covered an area of ​​334,000 hectares. However, the mid-term management of crops such as solanaceous fruits, melons, and cauliflower vegetables in the greenhouse includes pruning, topping, old leaves, flower thinning and fruit thinning, and later picking and transportation are labor-intensive and low production efficiency. Modern greenhouses in foreign countries have standardized structures, and rail transport vehicles can be used to improve production efficiency. However, the standards of greenhouses in my country are different and the space is small, so the cost of building a rail transport platform is re...

AI Technical Summary

Problems solved by technology

[0009] In order to solve the problem of loading and light transportation of working tools and materials and fruits in the process of greenhouse operation, the invention realizes the stable operation of the platform in the greenhouse through multi-sensor fusion and intelligent control algorithm technology, and improves the low intelligence and high labor intensity of the current mobile platform in the greenhouse. , High operating frequency, low operating efficiency and other issues

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