基于工作目标区图的大蒜播种机器人的路径规划  

Path Design of Garlic Planting Robot Based on Target Working Plot

作　　者：高迟[1] 张恒[1] 阎勤劳[2] 薛少平[2] 

机构地区：[1]山东莱芜职业技术学院,山东莱芜271100 [2]西北农林科技大学机电学院,陕西杨凌712100

出　　处：《安徽农业科学》2012年第4期2495-2496,2543,共3页Journal of Anhui Agricultural Sciences

基　　金：国家"十.五"科技攻关项目(2004BA524B03-02);山东中小企业创新资金项目资助(鲁企2010(28))

摘　　要：[目的]实现大蒜播种机器人作业效率和精确度最优化。[方法]基于工作目标区图的农业机器人导航跟踪原理设置大蒜播种机器人作业的路径规划,经试验验证其可行性。[结果]根据工作目标区图,给出大蒜播种机器人作业路径规划方程。采用由32位单片机控制的4轮机器人完成作业,选用激光待感器测距,采样周期为1 kHz/ms。经多次试验实测,证实机器人的0.4 m/s速度行驶,其最大横向偏差为0.038 m,说明其精度较高。[结论]该作业方案原始数据处理简洁、运算快,节约系统资源,跟踪速度快,精度高、种植效果好。[Objective] To achieve the optimal working efficiency and precision of garlic planting robot.[Method] Based on the navigation tracking principles of target working plot,the working path of garlic planting robot was designed,and its feasibility was verified.[Result] Based on the target working plot,the path planning program was presented.The four-wheel robot with 32 bit SCM was chosen,the distance was detected by laser sensor,the sampling frequency was 1 KHZ/ms.After multiple experiments,the robot could be driven at 0.4m/s.The lateral deviation was 0.038m,indicating that the robot had high precision.[Conclusion] The operating scheme and raw data treatment was simple and fast,which could save the system resources and had high tracking speed,high precision and good planting effect.

关 键 词：大蒜播种 机器人 路径规划 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]