基于空间自主感知的全地形智能田间除草机器人分析  

Analysis of All Terrain Intelligent Field Weeding Robot Based on Spatial Autonomous Perception

作　　者：史婷婷 薛迪[1] 郭建康 候良晨 SHI Tingting;XUE Di;GUO Jiankang;HOU Liangchen(School of Mechanical Engineering,Jiamusi University,Heilongjiang 154007,China)

机构地区：[1]佳木斯大学机械工程学院,黑龙江154007

出　　处：《集成电路应用》2022年第5期86-87,共2页Application of IC

基　　金：黑龙江省大学生创新创业训练计划项目(202110222117,2018-KYYWF-0928,201910222092)。

摘　　要：阐述多雷达数据融合技术和图像深度增强技术的应用,设计了一台基于空间自主感知的全地形智能高杆果树间除草机器人。该设备通过双目立体视觉识别技术对环境进行识别,结合二维激光雷达完成环境地图实时测距,运动机构采用电机驱动直线排布的可切换式轮履复合行进机构,从而实现整机在作业时完成环境识别、路径规划、自主避障、自主作业。This paper expounds the application of multi radar data fusion technology and image depth enhancement technology,and designs an all terrain intelligent weeding robot among tall fruit trees based on spatial autonomous perception.The equipment recognizes the environment through binocular stereo vision recognition technology,and completes the real-time ranging of the environmental map in combination with two-dimensional lidar.The moving mechanism adopts the switchable wheel composite traveling mechanism driven by the motor,so as to realize the environmental recognition,path planning,autonomous obstacle avoidance and autonomous operation of the whole machine during operation.

关 键 词：自动化技术 控制技术 除草机 避障 视觉识别 可切换伸缩式轮履 多叶片回转 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]