果园单轨运输机在轨状态感知系统研制

针对山地果园单轨运输机作业环境受限、定位精度较低等问题,该研究基于高频RFID(RadioFrequency Identification)混合测速定位方法,设计了一套果园单轨运输机在轨状态精准感知系统。感知系统以STM32F103RCT6芯片为主控单元,利用双RFID阅读器读取基准定位标签组的时间差,使用混合测速定位方法,实时计算运输机的作业状态信息;设计了移动端监测软件,通过LoRa通信模块远程获取运输机实时作业状态信息。试验结果表明,运输机在平地路况中运行稳定,感知系统计算的全程平均行驶速度为0.49 m/s,依据秒表记录计算的全程平均行驶速度为0.48 m/s,二者速度相差2%;基准定位标签组间距为3.42m时,运输机全程平均定位误差为6.18±0.60cm;基准定位标签组间距为6.84 m时,运输机全程平均定位误差为6.46±1.14 cm。该研究验证了基于高频RFID精准感知单轨运输机在轨状态的可行性,提升了运输机作业安全性和智能性,可为实现果园生产精准作业提供可靠数据支持。

Development of on-orbit status sensing system for orchard monorail conveyer

In order to solve the problems of limited working environment and low positioning accuracy of mountain orchard monorail conveyer, a set of accurate on orbit state sensing system of orchard monorail conveyer was designed based on high frequency RFID (Radio Frequency Identification) hybrid speed measurement and positioning method in this paper. The system combined electromagnetic wave positioning with velocity measurement to obtain data from high frequency RFID module. The STM32f103rct6 chip was used as the main control unit of the sensing system, the dual RFID reader was used to read the time difference of the reference location tag groups, the hybrid speed measurement and positioning method was used to calculate the real-time operation status information of the conveyer in real time, and the mobile terminal monitoring software was designed, and the real-time operation status information of the conveyer was obtained through Lora communication module In order to evaluate the performance of the sensing system, the experiments was carried out in the monorail conveyer test platform, which located in South China Agricultural University. The electric monorail conveyer with 7SYZDD-200 model was used, which designed by China Agriculture Research System. The track in the test platform was circular with 130.59 m. The track was divided into 10 segments according to different track conditions of flat track, band track, uphill and downhill. Experimental results showed that the system could accurately sense the running state information of monorail conveyor on track in real time, but in different track conditions, the test results of the conveyer speed fluctuate greatly. Compared with other track conditions, the average tested speed of the conveyer in the whole course of flat running was 0.49 m/s, and that recorded by the stopwatch was 0.48 m/s, the relative error was 2%. When the distance between tags was 3.42 m, the average positioning error was 6.18 ± 0.60 cm; when the distance between tags was 6.84 m, the average positioning error is 6.46 ± 1.14 cm, which was about 0.94% relative to the distance between tags. The study verified the feasibility of high-frequency RFID based accurate perception of monorail conveyer on orbit, and improved the safety and intelligence of the transport operation, which can provide reference for the realization of precise operation in orchard production.