果园单轨运输机在轨状态感知系统研制.

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 status sensing system for 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-oubit 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. [ABSTRACT FROM AUTHOR]