There are some disadvantages, such as complicated wiring, high cost, poor monitoring flexibility, low accuracy and high energy consumption in traditional greenhouse environment monitoring system which based on previou...There are some disadvantages, such as complicated wiring, high cost, poor monitoring flexibility, low accuracy and high energy consumption in traditional greenhouse environment monitoring system which based on previous wireless sensor networks （WSN）. Aiming at these problems, a greenhouse environmental parameter monitoring system had been designed based on internet of things technology in this paper. A set of control system with good robustness, strong adaptive ability and small overshoot was set up by combining the fuzzy proportion-integral-derivative （PID） control. The system was composed of a number of independent greenhouse monitoring systems. The server could provide remote monitoring access management services after the collected data were transmitted. The data transmission part of greenhouse was based on ZigBee networking protocol. And the data were sent to intelligent system via gateway connected to the internet. Compared to the classical PID control and fuzzy control, the fuzzy PID control could quickly and accurately adjust the corresponding parameters to the set target. The overshoot was also relatively small. The simulation results showed that the amount of overshoot was reduced 20% compared with classical PID control.展开更多
In order to make the humanoid robot walk freely in complicated circumstance, the reliable capabilities for obtaining plane information from its surroundings are demanded. A system for extracting planes from data taken...In order to make the humanoid robot walk freely in complicated circumstance, the reliable capabilities for obtaining plane information from its surroundings are demanded. A system for extracting planes from data taken by stereo vision was presented, After the depth image was obtained, the pixels of each line were scanned and split into straight line segments. The neighbouring relation of line segments was kept in link structure. The groups of three line segments were selected as seed regions. A queue was maintained for storing seed regions, and then the plane region was expanded around the seed region. The process of region growing continued until the queue of seed regions was empty. After trimming, the edges of the planes became smooth. In the end, extracted planes were obtained. In the experiment, two models were used： pipe and stairs. Two planes in pipe mode/and six planes in stairs model were extracted exactly. The speed and precision of algorithm can satisfy the demands of humanoid robot＇s navigation.展开更多
基金the National High-Tech Research and Development Plan of China under Grant No.2007AA01Z203(国家高技术研究发展计划(863))the National Basic Research Program of China under Grant No.2007CB307101-4(国家重点基础研究发展计划(973))
基金Supported by the 13th Five-year National Key R&D Program:Development and Verification of Information Perception and Environment Intelligent Control System for Dairy Cattle and Beef Cattle(2016YFD0700204-02)Quality and Brand Construction of "Internet+County Characteristic Agricultural Products"(ZY17C06)
文摘There are some disadvantages, such as complicated wiring, high cost, poor monitoring flexibility, low accuracy and high energy consumption in traditional greenhouse environment monitoring system which based on previous wireless sensor networks （WSN）. Aiming at these problems, a greenhouse environmental parameter monitoring system had been designed based on internet of things technology in this paper. A set of control system with good robustness, strong adaptive ability and small overshoot was set up by combining the fuzzy proportion-integral-derivative （PID） control. The system was composed of a number of independent greenhouse monitoring systems. The server could provide remote monitoring access management services after the collected data were transmitted. The data transmission part of greenhouse was based on ZigBee networking protocol. And the data were sent to intelligent system via gateway connected to the internet. Compared to the classical PID control and fuzzy control, the fuzzy PID control could quickly and accurately adjust the corresponding parameters to the set target. The overshoot was also relatively small. The simulation results showed that the amount of overshoot was reduced 20% compared with classical PID control.
基金Project(60776816) supported by the National Natural Science Foundation of China and Civil Aviation Administration of ChinaProject(8251064101000005) supported by the Natural Science Foundation of Guangdong Province,China
文摘In order to make the humanoid robot walk freely in complicated circumstance, the reliable capabilities for obtaining plane information from its surroundings are demanded. A system for extracting planes from data taken by stereo vision was presented, After the depth image was obtained, the pixels of each line were scanned and split into straight line segments. The neighbouring relation of line segments was kept in link structure. The groups of three line segments were selected as seed regions. A queue was maintained for storing seed regions, and then the plane region was expanded around the seed region. The process of region growing continued until the queue of seed regions was empty. After trimming, the edges of the planes became smooth. In the end, extracted planes were obtained. In the experiment, two models were used： pipe and stairs. Two planes in pipe mode/and six planes in stairs model were extracted exactly. The speed and precision of algorithm can satisfy the demands of humanoid robot＇s navigation.
