基于ROS农田打药机器人的设计与研究  

Design and Research of Field Medicine Robot-based Robot Operating System

作　　者：陈淑瑜[1] 杨豪 韦德泉 孙亚宁 CHEN Shu-yu;YANG Hao;WEI De-quan;SUN Ya-ning(Department of Mechanical and Electrical Engineering,Zaozhuang Univetsity,Zaozhuang 277160,China;School of Opt-Electronic Engineering,Zaozhang University,Zaozhuang 277160,China)

机构地区：[1]枣庄学院机电工程学院,山东枣庄277160 [2]枣庄学院光电工程学院,山东枣庄277160

出　　处：《枣庄学院学报》2019年第5期33-37,共5页Journal of Zaozhuang University

基　　金：教育部2018年第二批产学合作协同育人项目(项目编号:201802123065;201802111030);枣庄学院教改重点项目(项目编号:YJG17001;YJG18026);枣庄学院2019年大学生SRT项目

摘　　要：采用履带式机器小车为主体,基于ROS操作系统实现对机器小车的驱动控制.通过视觉摄像头,基于OpenCV视觉库进行图像信息处理,由ROS系统传回电脑进行处理,达到控制机器人的行走轨迹.利用光电传感器实现避障,控制安装在机器人身上的机械打药装置,完成农田智能打药工作.The driving control of the crawler type robot car is realized based on ROS operating system with the crawler type robot car as the main body.Through the visual camera,the image information is processed based on the OpenCV vision library,and the ROS system is transmitted back to the computer for processing,so as to control the walking path of the robot.Through the photoelectric sensor to avoid obstacles,and finally through the mechanical device installed on the body of the robot,so as to complete the intelligent farmland drug work.

关 键 词：智能打药 ROS操作系统 OpenCV视觉库 光电传感器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]