基于玉米根系保护的株间除草机器人系统设计与试验  

Development and Experiment of Intra-row Weeding Robot System Based on Protection of Maize Root System

作　　者：权龙哲[1] 张景禹 姜伟 李恒达 杨春杰 张溪麟 QUAN Longzhe;ZHANG Jingyu;JIANG Wei;LI Hengda;YANG Chunjie;ZHANG Xilin(College of Engineering,Northeast Agricultural University,Harbin 150030,China)

机构地区：[1]东北农业大学工程学院,哈尔滨150030

出　　处：《农业机械学报》2021年第12期115-123,共9页Transactions of the Chinese Society for Agricultural Machinery

基　　金：黑龙江省博士后落地项目(LBH-Q19007);国家自然科学基金项目(52075092)。

摘　　要：针对株间机械除草时末端执行器存在损伤玉米根系风险的问题,提出了一种基于玉米根系保护的除草铲土上避苗除草模式,并设计了一套智能株间除草机器人系统。该机器人系统由机器人移动平台、除草装置、视觉检测系统和控制系统组成。其中视觉检测系统采用YOLO V4网络模型来检测玉米苗和杂草;除草装置是基于除草铲空间立体运动轨迹设计,使得除草铲可以完成土上和土下2种避苗除草作业模式。田间试验表明,在机器人移动平台前进速度为1.2 km/h时,玉米苗和杂草的检测率分别为96.04%和92.57%,且2种除草模式的除草率均高于81%。除草铲土上避苗除草模式的平均伤根率为3.35%,相较于除草铲土下避苗除草模式降低了36.40个百分点。结果证明该除草机器人系统运行稳定,且除草铲土上避苗除草模式具有较优的玉米根系保护性能。Aiming at the risk of end effector damage to the maize root system during mechanical intra-row weeding,a novel intra-row weeding mode based on the protection of the maize root system was proposed and an intelligent robot system for weeding was designed.The robot system consisted of a robot mobile platform,a weeding device,a visual system and a control system.Among them,maize seedlings and weeds were detected by the visual system using advanced YOLO V4 network model;the weeding device was based on the three-dimensional movement of weeding shovels,so that the weeding shovel can complete two operation models,including under and on the ground to avoid maize seedlings.Field experiments showed that when the robot mobile platform advanced at 1.2 km/h,the detection rates of maize seedlings and weeds were 96.04%and 92.57%,respectively,and the weeding rate of the two weeding modes were higher than 81%.The average root damage rate under the mode that weeding shovels placed on the ground to avoid maize seedlings was 3.35%,which was 36.40 percentage points lower than that of the mode that weeding shovels were always placed under the ground to avoid maize seedlings.The results proved that the weeding robot system was stable,and the weeding shovel avoiding seedlings and weeding on the soil had better protection performance of the maize root system.

关 键 词：玉米 株间除草 机器人移动平台 根系保护 目标检测 除草铲 

分 类 号：S233.3[农业科学—农业机械化工程]