Resumen
This study addressed the issue of the real-time monitoring and control of the transporter in a mountain orchard terrain characterized by varying topography, closed canopy, shade, and other environmental factors. This study involved independent research and the development of a series of electric monorail transporters. First, the application requirements of ?Where is the monorail transporter?? were examined, and an accurate location-aware method based on high-frequency radio frequency identification (RFID) technology was proposed. In addition, a location-aware hardware system based on STM32 + RFID + LoRa was designed to determine the position of the monorail transporter on a rail. Second, regarding the application requirements of ?Where is the monorail transporter going??, a multimode control gateway system based on Raspberry Pi + LoRa + 5G was designed. An Android mobile terminal can obtain operational information about the transport plane in real time through the gateway system and remotely control its operation. The track-changing branch structure enables multimachine autonomous intelligent avoidance. Based on the experimental results of monorail transporter positioning in mountain orchards under various typical terrains, such as flat surfaces, turning paths, and uphill/downhill slopes, the road section average relative error of the 7ZDGS?250-type monorail transporter was 1.27% when the distance between benchmark positioning tags was set at 10 m on both flat and turning roads, and that of the 7ZDGS?300-type monorail transporter was 1.35% when the distance between benchmark positioning tags was set at 6 m uphill/downhill. The road section relative error of the 7ZDGS?250-type monorail transporter was 21.18%, and that of the 7ZDGS?300-type monorail transporter was 9.96%. In addition, the experimental results of monorail transporter communication control showed that the combination of the multimode control gateway control system and track-changing branch structure can achieve multimachine cooperation and autonomous avoidance function, ensuring that multiple monorail transporters can operate simultaneously without collision. The findings of this study establish the communication link of ?monorail transporter-gateway system-control terminal? and form a precise positioning and real-time control scheme applicable to the operating environment of monorail transporters, thereby improving the intelligence and safety of mountain orchard monorail transporters.