智能锄草机器人系统设计与仿真  

Design and Simulation of Intelligent Weeding Robot System

作　　者：张春龙[1] 黄小龙[1] 耿长兴[1] 张俊雄[1] 李伟[1] 

机构地区：[1]中国农业大学工学院,北京100083

出　　处：《农业机械学报》2011年第7期196-199,185,共5页Transactions of the Chinese Society for Agricultural Machinery

基　　金："十二五"国家科技支撑计划资助项目(2011BAD20B07);高等学校博士点专项科研基金资助项目(20090008110007);中国农业大学研究生科研创新专项资助

摘　　要：针对锄草机器人田间运动及锄刀避苗锄草等作业问题,阐述了智能锄草机器人系统工作原理,研究了移动机器人平台,平台为四轮驱动、四轮独立转向,可实现运动速度在0～1.5 m/s内连续可调,每组转臂可绕其自身Z轴360°自由旋转。设计了三指手爪锄草机械手,三指公转,其中一指为活动手指可同时自转,锄草机器人工作时两个固定指的割刀连续入土锄草,系统根据机器视觉苗草位置信息,通过控制活动手指的旋转速度与方位角实现瞬时位置调整,进而通过拟合指端旋移曲线即可完成锄草和避苗等作业任务。苗间锄草仿真分析表明,在有效避苗基础上,作物行两侧各布置一组锄草机械手时锄草率可达90%以上。In order to solve the problems of weeding robot including the flexible movement in field and removing weeds without injuring crop seedlings,the principle of intelligent weeding robot system and the mobile robot platform were studied.The mobile platform was a four-wheel driven and four-wheel steering robot.It could move within the speed of 0~1.5m/s and each leg could rotate freely around Z-axis of itself.A three-finger manipulator was also designed.All the three fingers could rotate around their public-axis and one of them could also around its own Z-axis.When the robot worked,based on the location information of seedlings and weeds gotten by the machine vision,the rotation speed of movable finger could be controlled to avoid injuring the seedlings while the two fixed fingers would remove the weeds between two crop seedlings continuously.The simulation of the trajectories of three-finger manipulator showed that more than 90% weeds could be removed when a manipulator was installed on each side of crop rows.

关 键 词：锄草机器人 移动机器人平台 苗间锄草 三指手爪机构 仿真 设计 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]