智能田间除草机器人发展现状研究  

Research on the development status of intelligent field weeding robot

作　　者：邢钦淞 丁素明 薛新宇 崔龙飞 乐飞翔 李鹰航 Xing Qinsong;Ding Suming;Xue Xinyu;Cui Longfei;Le Feixiang;Li Yinghang(Nanjing Institute of Agricultural Mechanization,Ministry of Agriculture and Rural Affairs,Nanjing,210014,China;Chinese Academy of Agricultural Mechanization Sciences Group Co.,Ltd.,Beijing,100083,China)

机构地区：[1]农业农村部南京农业机械化研究所,南京市210014 [2]中国农业机械化科学研究院集团有限公司,北京市100083

出　　处：《中国农机化学报》2022年第8期173-181,共9页Journal of Chinese Agricultural Mechanization

基　　金：江苏省农业科技自主创新资金项目(CX(21)2007);国家油菜产业技术体系(CARS—12)。

摘　　要：智能田间除草机器人是当代农业发展现代化、精细化、智能化的重要体现,对国家社会发展、环境保护等方面有着重要意义。为明确智能除草机器人关键技术与装备当前研究现状,从除草方式、苗草识别定位和智能导航方式等方面,总结梳理典型除草机器人的研究现状及作业方式;综述智能导航、苗草识别、除草执行系统关键技术的重要意义及研究进展;结合除草机器人具有作业环境复杂多变性、作业对象娇嫩性、使用对象特殊性、作业季节性的研究特点,指出当前关键技术的现存问题并阐释组合导航技术、复杂田间环境图像处理技术及杂草分类、株间除草末端执行机构研发及机械结构优化是未来发展趋势。Intelligent field weeding robots are an important manifestation of the modernization,refinement and intelligence of contemporary agricultural development,and are of great significance to national social development and environmental protection.In order to clarify the current research status of key technologies and equipment of intelligent weeding robots,the research status and operation modes of typical weeding robots were summarized from the aspects of weeding modes,identification and positioning of seedlings and grasses,and intelligent navigation modes.Then the importance and research progress of the key technologies of intelligent navigation,seedling and weed identification and weeding execution system were summarized.Combined with the research characteristics of weeding robot,such as complex and changeable operation environment,delicate operation object,special use object and seasonal operation,the existing problems of current key technologies were pointed out.According to the problems,the future development trends of integrated navigation technology,image processing technology of complex field environment,weed classification,research and development of inter-plant weeding terminal actuator and mechanical structure optimization are explained.

关 键 词：除草机器人 智能导航 苗草识别 末端执行器 

分 类 号：S24[农业科学—农业电气化与自动化]