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Taiwan Agricultural Research Institute, Council of Agriculture, Executive Yuan--Publication-Special Publication of TARI-No.177

No.177

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Development of the Automatic Guidance System for Self-propelled Carrier in Greenhouse

Development of the Automatic Guidance System for Self-propelled Carrier in Greenhouse

Chih-Kai Yang1, Guo-Shiang Hwang2

1 Associate Agricultural Engineer, Taiwan Agricultural Research Institute, COA
2 Assistant Agricultural Engineer, Taiwan Agricultural Research Institute, COA

Abstract

    The operation processes in greenhouse cultivation, including fertilizers, materials, growing media, seedlings and agricultural products handling currently exercised by manpower cart, powered cart, rail trolley, conveyor, automated handling systems and gantry systems. There are classified into two system of non-rail and rail-mounted. The automation carrier capable of moving between aisles with diversity, flexibility, safety as well as carrying capacity and other functions for transporting in the greenhouse to handle agricultural products and compact management machineries needs to be designed and built. The image identification and guidance technology, magnetic guidance system and RFID locating were applied to drive and control the carrier in accordance with planned path in greenhouse. The system includes self-propelled omni-wheel carrier, image identification and guidance system, magnetic guidance module. After developing and testing, image identification system although can achieve, but restrained by ambient light changes, algorithms could easily lapses from fuction. Therefore, the magnetic guidance system and RFID locating technology substituted for image system. The magnetic sensor equiped in front of self-propelled carrier can sense magnetic ribbon on the ground. The feedback signals are transmitted the controller to correct the drection. The RFID reader at the bottom of carrier can identify the current location, as compared to the database map settings. Then, the carrier decides to turn around, go straight or U-turn.

Keywords: AGV, Magnetic guidance system, RFID locating.