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At present, mobile robots equipped with a single sensor in an indoor environment suffer from insufficient mapping accuracy and limited scanning range. Therefore, this paper proposes a method for data fusion mapping with three sensors, single-line lidar, depth camera and IMU. First, the depth data collected by the depth camera is reduced by dimensionality processing to make it two-dimensional, and then the environmental feature data scanned in the lidar, the pseudo laser data of the depth camera, and the pose information collected and calculated by the IMU are passed through Kalman. Filtering performs data fusion, that is, compensating the position and attitude errors caused by the lidar measurement. In the mapping phase, under the open source SLAM algorithm Gmapping, the two-dimensional local raster maps generated by the lidar that fuse multi-source data and the depth camera are merged with the local map based on the Bayes rule. Experiments show that the global map obtained by this method contains richer environmental information than a single sensor, which improves the accuracy of map construction and is beneficial to subsequent navigation obstacle avoidance research.

When the container is being repaired, it is necessary to transfer the container to be repaired between the temporary storage area and the repair area. Due to the large size, when manually transported by forklift, the line of sight is blocked, there is a great safety hazard and efficiency. It is relatively low, and it is inconvenient to use a single mobile robot to carry it. Therefore, to solve this problem, a dual-mobile robot collaborative operation system is developed, and two mobile robots are used to move containers together to complete container maintenance and handling. Through the analysis of the cooperative handling of the dual mobile robots, a mathematical model of the cooperative movement of the dual mobile robots is established, and kinematics analysis is carried out to provide a theoretical basis for controlling the cooperative operation of the dual mobile robots.

In order to solve the problem of liquid and solid food products in bowls produced by enterprises, the liquid and solid food products spilled during manual operation of food compression process. Product weight reduction affects production efficiency and labor intensity of workers. The specific control parameters are obtained through the orthogonal experimental design and observation method. Adopt digital control technology and design method of mechanical structure. The numerical control system can precisely control the movement and rotation of the pressure plate, and realize the numerical control functions of position, speed and force Angle in the compression process. The touch screen and PLC are the control core. Photoelectric sensor to obtain position parameters, servo motor drive screw linear module slider movement, stepper motor drive disk rotation Angle, touch screen to achieve man-machine interface. It provides research basis for further optimization and numerical control system of different solid-liquid food materials compression.

Aiming at the problem that the welding sequence has a great influence on the welding deformation of the dielectric box, this paper uses the nonlinear finite element method to numerically simulate the four welding sequences of the magnetic separator dielectric box, and analyzes the transverse deformation and longitudinal deformation. The welding sequence with the smallest amount of deformation was obtained, and the correctness of the simulation results was verified by experiments.

The processing of the bowled food is relatively mechanical, repetitive and cumbersome, resulting in high work intensity, low efficiency, and high defect rate, and meets the working cycle:13.5s, positioning accuracy: 2mm.A PLC-based automatic feeding control system for food packaging line was designed. Including the conveyor line for bowl feeding, the numerical controlled manipulator and package process following control system for reclaiming and discharging functions, the system control scheme was proposed and 3D modeling construction was carried out. The design of hardware and software for feeding, reclaiming and discharging in the system is elaborated in detail. Finally, through the actual on-site commissioning and production operation, it is proved that the equipment has fully met the design requirements and greatly improved the production efficiency.

In order to facilitate the independent operation of the wheeled plant protection robot, a wire-controlled chassis with wire control, modularization and generalization was designed and manufactured. The steering drive mode of the plant protection robot adopts front wheel drive rear wheel steering. The steer-by-wire system uses a steering motor to drive the steering gear and installs a corner sensor on the steering column to achieve closed-loop control of the steering. The throttle-by-wire system uses a PWM speed control method and uses a Hall sensor to achieve closed-loop speed control. The brake-by-wire system uses a dedicated drive to control the electric linear actuator for braking and closed loop control of the brake through the current loop. For the communication method, the CAN network is used to build the communication of each module. The results show that the line-controlled site can accurately follow the expected action value given by the decision-making system to ensure the accuracy and stability of the plant protection robot operation.

Although the orchard plant protection operation has been mechanized, but its process still needs to be manually driven. The operation planning and monitoring management system of plant protection robot, in the premise of the realization of autonomous operation, can realize the whole operation planning, precise “breakpoint continuous spray”, and the real-time display of the operation state in the process of operation. Among them, the overall operation planning is to use high precision GPS to collect the coordinates of the feature points and draw the feature map based on the feature points. Monitoring and management system design mainly includes GPS/BD, GPRS communications, Baidu maps API and other aspects of the composition of the technology. Firstly, the position coordinates of the robot are collected by GPS/BD module, and the data transmission is realized by GPRS wireless communication technology. We can call Baidu maps API rules, develop the network center server page, embedded in the API code. In the generated JSP page, the electronic map can display real-time positioning coordinates. Finally, it can lessen the burden of farmers.