agroengineeringАгроинженерияAgricultural Engineering (Moscow)2687-11492687-1130РГАУ-МСХА10.26897/2687-1149-2023-2-19-27agroengineering-551Research ArticleТЕХНИКА И ТЕХНОЛОГИИ АПКFARM MACHINERY AND TECHNOLOGIESРазработка системы управления движением роботизированной платформы на основе методов лазерной дальнометрии (LiDAR)Developing a motion control system for a robotic platform based on laser ranging methods (LiDAR)КутырёвА. И.KutyrevA. I.

Алексей Игоревич Кутырёв, канд. техн. наук, старший научный сотрудник

109428, г. Москва, 1-й Институтский проезд, 5

Aleksei I. Kutyrev, PhD (Eng), Senior Research Engineer

109428, Moscow, 1st Institutsky Proezd Str., 5

alexeykutyrev@gmail.comДышековА. И.DyshekovA. I.

Артур Изнаурович Дышеков, младший научный сотрудник

109428,  г. Москва, 1-й Институтский проезд, 5

Artur I. Dyshekov, Junior Research Engineer

109428, Moscow, 1st Institutsky Proezd Str., 5

a.i.dyshekov@gmail.comФедеральный научный агроинженерный центр ВИМРоссияFederal Scientifi c Agroengineering Centre VIMRussian Federation2023260420232521927Copyright © Кутырёв А.И., Дышеков А.И., 20232023Кутырёв А.И., Дышеков А.И.Kutyrev A.I., Dyshekov A.I.Данная работа распространяется под лицензией Creative Commons Attribution 4.0.This work is licensed under a Creative Commons Attribution 4.0 License.https://agroengineering.timacad.ru/jour/article/view/551

Система управления движением роботизированной платформы должна проектировать маршрут и строить карту движения платформы в режиме реального времени. Разработана система управления движением роботизированной платформы в рядах садовых насаждений на основе технологии измерения расстояний путем излучения света дальномером оптического диапазона датчиком LiDAR. На языке программирования Python в операционной системе Ubuntu и среде визуализации Rviz разработан программный код для планирования пути движения и задания точек траектории движения. Для поиска оптимальной траектории движения применен алгоритм обхода графа и поиска оптимального пути. Изготовлена роботизированная платформа, оснащенная датчиком LiDAR Velodyne Puck (VLP-16) и дальномером Benewake TFmini Plus, измеряющим в режиме реального времени расстояние между роботизированной платформой и моделью дерева яблони через последовательный порт (COM-порт). Оценка точности выполнения движения роботизированной платформы произведена в лабораторных условиях. Эксперимент проводился с использованием люминесцентных газоразрядных ламп Super Lamp Holder SLH3 45W 220v 5500K RoHS, уровень освещенности варьировался от 10000 до 110000 люкс и контролировался с помощью спектрометр-пульсметра Uprtek MF250N. Факторный эксперимент выявил наиболее эффективный режим движения роботизированной платформы по заданной траектории: скорость движения – 2,5 км/ч; освещенность – 109600 лк; расстояние до дерева – 0,5 м. Позиционирование роботизированной платформы относительно каждого дерева в рядах насаждений и автономное выполнение основных технологических операций с отклонением от заданной траектории не более 1,5…2 см отвечают агротехническим требованиям по мониторингу садовых насаждений, внесению средств защиты растений, уборке урожая плодовых культур, контурной обрезке кроны деревьев.

The motion control system of the robotic platform should design a route and build a map of the platform’s real-time movement. The authors have developed a system for controlling the movement of a robotic platform in rows of garden plantings based on the technology of measuring distances by emitting light with an optical range rangefi nder LiDAR sensor. They have obtained a program code for planning the path of travel and setting the points of the travel trajectory in the Python programming language in the Ubuntu operating system (the Rviz visualization environment). To fi nd the optimal trajectory, they have applied an algorithm for traversing the graph and fi nding the optimal path. As a result, they have designed a robotic platform equipped with a LiDAR Velodyne Puck sensor (VLP-16) and a Benewake TFmini Plus rangefi nder measuring in real time the distance between the robotic platform and the apple tree model via a serial port (COM port). The accuracy of the robotic platform travel was evaluated under laboratory conditions. The experiment was conducted with the use of Super Lamp Holder SLH3 45W 220v 5500K RoHS fl uorescent discharge lamps, the illumination level varied from 10000 to 110000 lux and was controlled with the help of an Uprtek MF250N pulse spectrometer. The factorial experiment revealed the most effi cient travel mode of the robotic platform along the given trajectory: travel speed – 2.5 km/h; illuminance – 109600 lux; distance to the tree – 0.5 m. Positioning of the robotic platform relative to each tree in the rows of plantations and autonomous performance of basic technological operations with a deviation from the specifi ed trajectory of not more than 1.5 to 2 cm meet the agrotechnical requirements for monitoring of orchard plantations, application of plant protection agents, harvesting of fruit crops, and contour pruning of tree crowns.

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The authors declare that there are no conflicts of interest present.