Lysenko, V., Bolbot, I., Martynenko, O., Lendiel, T., & Nakonechna, K.
(2022).
Program implementation of mobile phytomonitoring work.
Machinery & Energetics,
13(1),
5-10.
https://doi.org/10.31548/machenergy.13(1).2022.5-10
Currently, the world is intensively expanding the areas of research and use of mobile robots – mechatronic systems based on the latest achievements in mechanics, microprocessor technology, control and measurement systems, computer science, and control theory. To successfully complete a wide range of tasks, robots must have both mobility and the ability to interpret, plan, and automatically perform the resulting task using an on-board computing system. Their special feature is the ability to achieve a given goal in an uncertain external environment, avoiding collisions with stationary obstacles and moving objects. Now the confident functioning of mobile robots can be ensured in relatively familiar and well-structured workspaces. Methods of controlling robots based on well-formulated models and algorithms are developed. When working in an unfamiliar or changing environment, the mobile robot must be able to adapt to changes in the environment, respond to unforeseen situations, and act based on previous experience. Thus, the robot needs a control system with elements of artificial intelligence. As a control object, the robot is a multi-channel nonlinear dynamic system. Despite the fact that a number of studies have been conducted in the field of mobile robot management to date, universal approaches to the synthesis of automatic robot control systems have not been sufficiently developed. The purpose of the study is to substantiate the software of a mobile robot for phytomonitoring. The methodology is an algorithm implemented by this programme, which provides for reading and storing information about the state of plants and the value of technological parameters of the environment in the greenhouse. The paper substantiates a flowchart of the mobile robot control algorithm for phytomonitoring in industrial greenhouses. Given the significant area of an industrial greenhouse and, accordingly, a significant number of plants in it, it is necessary to calculate the distance to which a mobile robot for phytomonitoring can transmit a digital signal. The authors prove that the total power of the channel is equal to the sum of all the powers of the transmitter, receiver, and antenna of the transmitter, the sensitivity of the system, and the loss difference of the transmission system
mobile robot, phytomonitoring, control system, closed ground construction, control algorithm
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