Position: Home > Articles > Design and Experiment of Omnidirectional Agricultural Measurement and Control Platform Based on uC/OS-Ⅲ System
Journal of Shandong Agricultural University(Natural Science Edition)
2018
(3)
438-443
基于uC/OS-Ⅲ系统全向型农业测控平台的设计与试验
作 者：
张帅;宋月鹏;徐保岩;王征;柳洪洁;高东升;樊桂菊
关键词：
全向性农业测控平台;Mecanum轮;uC/OS-Ⅲ系统;机器人运动学
摘 要：
针对目前农业移动平台的移动灵活性及工作稳定性差等问题,利用机器人运动学对Mecanum轮全向运动能力进行理论分析,研制了一种基于uC/OS-Ⅲ系统的全向型农业测控平台,用于搭载农业机器人在复杂的作业环境中实现全向移动和田间信息采集,减轻劳动强度,提高劳动效率。该平台分为五部分:机械主体部分、环境检测系统、控制系统、操作系统及动力系统;通过机器人运动学的分析与计算、Mecanum轮轮组系统与平台运动坐标系的映射关系分析,获得实现全方位运动的必要条件与最佳的轮组结构布局,进而实现了稳定迅速的全向移动能力;通过uC/OS-Ⅲ操作系统对任务进行管理和调度,实现运动平台对作业环境的温湿度、光照强度、定位信息的检测与反馈。最后进行了平台的整体实验与验证,结果表明该平台实现了全向运动并具有较高的工作稳定性。
译 名：
Design and Experiment of Omnidirectional Agricultural Measurement and Control Platform Based on uC/OS-Ⅲ System
作 者：
ZHANG Shuai;SONG Yue-peng;XU Bao-yan;WANG Zheng;LIU Hong-jie;GAO Dong-sheng;FAN Gui-jü;College of Mechanical and Electronic Engineering,Shandong Key Laboratory of Garden Machinery and Equipment/Shandong Agricultural University;College of Animal Science and Technology/Shandong Agricultural University;College of Horticulture Science and Engineering/Shangdong Agricultural University;
单 位：
ZHANG Shuai%SONG Yue-peng%XU Bao-yan%WANG Zheng%LIU Hong-jie%GAO Dong-sheng%FAN Gui-jü%College of Mechanical and Electronic Engineering,Shandong Key Laboratory of Garden Machinery and Equipment/Shandong Agricultural University%College of Animal Science and Technology/Shandong Agricultural University%College of Horticulture Science and Engineering/Shangdong Agricultural University
关键词：
Omnidirectional agricultural measurement and control platform;;Mecanum wheel;;uC/OS-Ⅲ system;;robot kinematics
摘 要：
In order to solve the problems of poor mobility and poor working stability of the current agricultural mobile platform, a kind of omnidirectional integrated monitoring and control platform based on u C/OS-Ⅲ system was developed by using the theoretical analysis of robot kinematics and the omnidirectional motion ability of Mecanum wheel. It is used to carry agricultural robot in complex operation environment to realize omnidirectional movement and field information collection, reduce labor intensity and improve labor efficiency. The platform is divided into five parts: mechanical parts,environmental detection system, control system, operating system and power system. Through the analysis and calculation of robot kinematics and the analysis of mapping relation between Mecanum wheel group system and platform motion coordinate system, the necessary conditions and the optimal wheel group structure layout for realizing omnidirectional motion are obtained. Furthermore, stable and rapid omnidirectional mobility is realized.
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