玉米田间自主行进载具之有限状态机逻辑演绎设计及实现Designand.PDFVIP

先進工程學刊第八卷 第四期 241 Journal of Advanced Engineering Vol. 8, No. 4, pp. 241-257 / October 2013 玉米田間自主行進載具之有限狀態機邏輯演繹設計及實現 Design and Implementation of a Logical Approach-Based Finite State Machine Suitable for Use in an Automated Guided Vehicle in Corn Field * 周立強 曾鍾湧 * Li-John Jou , Chung-Yung Tseng 摘要 本文提出運用一混合式邏輯動態系統為模型架構，演繹設計實現能自主行進 於玉米田間之控制載具。本文以可程式控制器作為載具之控制核心，透過類比轉 數位模組接收感測器類比訊號，經數位編解碼後，由內建比較器作多段輸出，提 高對植株環境變異偵測之解析度。控制載具之實際功能測試是在玉米田間進行， 能夠模擬一般噴灑或運送作業機器在作物株間行進運作。本文提出之技術方法可 應用推演於其他型式自主行進載具其有限狀態機的演繹設計及實現。 關鍵詞 : 混合式邏輯動態系統，田間自主行進載具，有限狀態機 Abstract In this paper, based on the modeling scheme of a mixed logic dynamic system, a direction-speed controller is designed and implemented by using a Moore finite-state machine to build up an automated guided vehicle (AGV) in corn field. Four photo-sensors, two ultrasonic sensors and an electro-gyro are outfitted in an AGV to sense the environment variation while the AGV goes through row spaces in a corn field. In accordance with geometric positions and by setting threshold values from multi-sensors configured on a vehicle, a logic approach detecting and identifying the relative space variations from sensing states with leaves interference was constructed to deduce and simulate s