Система керування електротехнічного роботизованого комплексу фітомоніторингу рослин у теплиці
Abstract
The control system of electrical robotized complex OF fytoMONITORING plants in greenhouses
V. Lysenko, I. Bolbot, I. Chernov
Building management system phytomonitoring complex electrical plant in the greenhouse was based multilevel hierarchical organization of construction, which has the ability to analyze data and fitoklimatychnyh decision-making on this basis to optimize the movement route, planning a mobile robot action sequences, pattern recognition and noise. The structure of such a management system contains some kind of strategic, tactical and operational level.
The control system operates as follows. For route planning at the strategic level the system should get coordinates of control points through which the robot must navigate their route and spend them dimensions. There are two possible ways to determine these control points, the operator manually and automatically according to the analysis of temperature distribution prediction method of computing hidrohazodynamiky air flow in the greenhouse. CHECKLIST points gets to the strategic level controller, which is designed to solve the problem of building the best route, which covers the maximum number of control points, based on the capabilities and limitations of mobile robot design greenhouses. The navigation controller is designed tactical level to address the problem of processing of current data coming from the measuring system of the mobile robot, the definition of work location, specification card environment and possible barriers to movement and directly manages the movement from one checkpoint to another. Formed displacement vector is transferred to the executive level controller, which controls the speed of rotation of the drive wheels, mismatch between when cornering.The basis for the construction of information system of mobile robot was taken by free and open source shell ROS (Robot Operating System).
References
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