基于LiDAR的温室对靶喷雾机器人的设计与试验  

Design and Experiment of Target Spray Robot in Greenhouse Based on LiDAR

作　　者：杨征鹤 陈毅飞 杨会民[2] 喻晨[2] 王学农[2] Yang Zhenghe;Chen Yifei;Yang Huimin;Yu Chen;Wang Xuenong(College of Mechanical and Electrical Engineering,Xinjiang Agricultural University,Ürümqi 830052,China;Agricultural Mechanization Institute,Xinjiang Academy of Agricultural Science,Ürümqi 830091,China)

机构地区：[1]新疆农业大学机电工程学院,乌鲁木齐830052 [2]新疆农业科学院农业机械化研究所,乌鲁木齐830091

出　　处：《农机化研究》2022年第11期83-89,共7页Journal of Agricultural Mechanization Research

基　　金：自治区重大专项(20219860)。

摘　　要：为提高温室中农药利用率,减少温室环境中的农药污染,设计了一种基于LiDAR(激光雷达)的温室对靶喷雾机器人,其上位机采用ROS机器人系统进行控制,stm32单片机作为下位机,采用Komodo-1履带式底盘,能够自主行走。工作时,激光雷达能够检测两侧15°范围内的作物信息,若有作物则上位机分析作物角度与距离信息并向下位机发送,下位机判断并延时开启相应一侧电磁阀打开喷头,确保了喷雾的实时性,实现了自动对靶喷雾。同时,测试了激光雷达在不同速度、不同靶标间距下的最小识别间距,发现0.5m/s的速度下在有效检测范围内可以识别最小0.3m的间距,1m/s时可以识别最小0.35m的间距。并根据最小识别间距设置了3株仿真树进行测试,分析了连续与对靶两种状态下不同位置的雾滴覆盖率,结果表明:对靶喷雾机器人能够在作物空隙中有效减少约41%喷雾量,且在作物的前、中、后3个冠层位置雾滴覆盖率的变异系数CV值分别为10.0%、10.4%、12.5%,喷雾效果良好。In order to improve the utilization rate of pesticides in the greenhouse and reduce pesticide pollution in the greenhouse environment,a greenhouse target spray robot based on LiDAR(laser radar)was designed in this paper.The upper computer of the robot was controlled by ROS robot system,stm32 MCU was used as the lower computer,and Komodo-1 tracked chassis was adopted,which was able to move independently.The LiDAR can detect the crop information within the range of 15°on both sides.If there are crops,the upper computer will analyze the crop Angle and distance information and send it to the downward machine.The lower machine will judge and delay the opening of the corresponding side solenoid valve to open the nozzle,ensuring the real-time performance of spraying and realizing the automatic target spraying.The experimental part tested the minimum identification distance of the lidar at different speeds and different target distances,indicating that the minimum identification distance of 0.3m at 0.5m/s and 0.35m at 1m/s can be identified within the effective detection range.And according to the minimum set up three strains of simulation test to identify spacing,continuous and analyzed two kinds of target coverage of droplets of different position,the test shows that the target spray robot can effectively reduce about 42%in the crop gap spraying quantity,and in the crops before,during and after the three canopy position CV value of variation coefficient of spray coverage are 10.0%,10.4%and 12.5%respectively,the spray effect is good.

关 键 词：对靶喷雾 LIDAR ROS 识别间距 雾滴覆盖率 温室 

分 类 号：S625.3[农业科学—园艺学]