水田作业农业机器人平台设计  

Design of Agricultural Robot Platform for Paddy Field Operation

作　　者：杨光友[1,2] 倪博文 李江 姜帆 Yang Guangyou;Ni Bowen;Li Jiang;Jiang Fan(Agricultural Machinery Engineering Research and Design Institute,Hubei University of Technology,Wuhan 430068,China;Hubei Agricultural Machinery Equipment Intelligent Engineering Technology Research Center,Wuhan 430068,China)

机构地区：[1]湖北工业大学农业机械工程研究设计院,武汉430068 [2]湖北省农机装备智能化工程技术研究中心,武汉430068

出　　处：《农机化研究》2021年第7期51-57,共7页Journal of Agricultural Mechanization Research

基　　金：国家重点研发计划项目(2017YFD0700603-03);武汉市科技局科技攻关项目(2015020202010129)。

摘　　要：以水田作业环境和无人农机作业要求为依据,设计并搭建了一种采用电驱动的机器人移动平台,主要包含行走底盘和控制系统。行走底盘由主机架、电力驱动系统、行走总成、转向总成和提升机构等组成;控制系统以STM32F407IGT6为主控制器,利用测速编码器、角度传感器、AT9S遥控器及R9D无线模块等设备,实现了机器人平台的远程遥控行驶控制。平台搭载GPS-RTK导航系统进行了轨迹追踪试验,结果表明:水田作业机器人平台的远程遥控控制及轨迹追踪控制符合农机无人作业的要求。Based on the paddy field operating environment and the requirements of unmanned agricultural machinery operation,an electric-driven robot mobile platform was designed and constructed.The platform mainly includes a walking chassis and a control system.The walking chassis is composed of the main frame,the electric drive system,the walking assembly,the steering assembly,and the lifting mechanism.The control system is based on the STM32F407IGT6 as the main controller,using speed measuring encoders,angle sensors,AT9S remote controls,and R9D wireless modules.The remote control of the robot platform was realized.The platform was equipped with a GPS-RTK navigation system to perform trajectory tracking experiments.The results show that the remote control and trajectory control of the paddy field robot platform meet the requirements of unmanned agricultural machinery operations.

关 键 词：水田机器人 无人农机 路径追踪 STM32 

分 类 号：S219.81[农业科学—农业机械化工程]