DEVELOPMENT OF A SMART MOBILE VEHICLE USED IN THE ROW SPACE FOR GREENHOUSE CROPS

摘要

The purpose of this paper is to develop a track-based smart mobile platform vehicle that assists crop cultivation management operations in the facility. The large-fruit tomato grown on a greenhouse scaffolding was used as the target crop to carry out improved tests on vehicle walking, guidance, and safety avoidance control. The establishment of crop information maps and the planning of operation paths were conducted. The control focuses on the integration and application of communication between the programmable controller (PLC) and the Raspberry Pi system. The image information of the mature tomato is obtained through WEBCAM (Logitech C270), and the real-time coordinate position of the smart vehicle is combined. The number of tomatoes and the labels of the plants can construct a crop information map containing the growth of the tomatoes, and the information can be integrated and uploaded to the cloud server via RS232 connected wireless communication equipment (based on LoRa communication technology). This research has successfully developed a set of smart platform vehicles, and synchronized operations in the tomato greenhouse with hyperspectral sensor modules, thermal image sensor modules, and harvesting robots. This is useful for subsequent sensing and harvesting in the greenhouse. The use of other operations can provide experience with relevant results. The integrated application of this research can be used in the future to integrate the PLC commonly used in greenhouses and the Raspberry Pi components that have been frequently used recently. In the future, there is an opportunity to provide new low-cost control solutions for the fields commonly used in greenhouses controlled by PLC.