大田对靶喷施机器人喷头位置解析与校正  

Nozzle positions resolving and calibration for the field target spraying robots

作　　者：李海龙[1] 权龙哲[1] 朱成亮 韩凯 王韦韦[3] 熊永森 梁永刚 秦广泉 Li Hailong;Quan Longzhe;Zhu Chengliang;Han Kai;Wang Weiwei;Xiong Yongsen;Liang Yonggang;Qin Guangquan(College of Engineering,Northeastern Agricultural University,Harbin 150030,China;Anhui Provincial Agricultural Machinery Testing and Certification Station,Hefei 230031,China;College of Engineering,Anhui Agricultural University,Hefei 230036,China;Key Laboratory of Crop Harvesting Equipment Technology of Zhejiang Province,Jinhua 321017,China;College of Electrical and Information Technology,Northeastern Agricultural University,Harbin 150030,China;Hefei Duojia Agricultural Technology Co.,Ltd.,Hefei 230036,China)

机构地区：[1]东北农业大学工程学院,哈尔滨150030 [2]安徽省农业机械试验鉴定站,合肥230031 [3]安徽农业大学工学院,合肥230036 [4]浙江省农作物收获装备技术重点实验室,金华321017 [5]东北农业大学电气与信息学院,哈尔滨150030 [6]合肥多加农业科技有限公司,合肥230036

出　　处：《农业工程学报》2022年第18期21-30,共10页Transactions of the Chinese Society of Agricultural Engineering

基　　金：省博士后落地项目(LBH-Q19007);国家自然科学基金项目(52075092,32271998)。

摘　　要：对靶喷施技术是提高药液利用率、减少环境污染的有效手段,针对植保机械在非结构化农田环境中对靶喷施作业准确率低的问题,该研究采用空间误差补偿技术,基于所设计的大田对靶喷施机器人开展喷头位置解析与校正。采用辅助坐标位置关联法,构建基于机器人坐标、航向与结构参数的喷头位置解析模型,采用误差等效变换法,量化耦合误差分解项,最后综合对比各校正方法性能,优选均值校正法对重构的喷头位置解析模型进行校正。平整场地对靶喷施模拟与田间验证试验结果表明:高斯回归建模方法可实现机器人结构参数的准确估计,喷头与定位点的相对高度、相对距离平均偏差分别为4.3和1.3 mm;喷头距靶标中心的响应距离越长,对靶喷施准确率越高,系统稳定性越好;行驶速度为1 m/s时,0、15和30 cm的靶标引导距离下分别有94.4%、96.7%、99.4%样本的对靶喷施精度≤30 mm,对靶喷施准确率的变异系数分别为0.010、0.017、0.010。该研究可为大田机器人的末端执行器精准控制提供思路和方法,为大田植保机械的精准施药技术性能优化提供参考。Target spraying can improve the utilization rate of the liquid for less environmental pollution,compared with traditional spraying.There are technical requirements for stable and reliable recognition,as well as accurate nozzle position solving in the spraying system.This research aims to develop and evaluate the accurate position-solving and error correction of nozzles for targeted spraying using a pre-designed field robot.The high accuracy of target spraying was achieved by plant protection machinery in unstructured field environments.The field robot of target spraying was mainly composed of electromagnetic nozzle,suspension,walking chassis,walking and,target spraying control system,as well as the global navigation satellite system.An Unmanned Aerial Vehicle(UAV)was used to collect the field information for the prescription map with the target spraying operation task.Specifically,the memory card was inserted with the prescription map information into the main board of the target spraying control system,and then to guide the robot for the target spraying.The robot was combined with the positioning and orientation data to solve the coordinates of each nozzle in real time during operation.Among them,the structural parameters of the robot were compared with the prescription diagram,in order to control the movement of the nozzle for target spraying.As such,the on-target spraying operation was implemented during the robot walking in a complex field.The position of the spray nozzles was solved to consider the errors originated from the production,installation,and movement of the components.The cumulative effect of error transmission between moving part was evaluated for each part of the error,compared with the robot kinematics.Among them,the end-to-end coupling error was transformed and described uniformly,and then decomposed and quantified at the end of the error transfer.The final coupling error was equivalently decomposed into the decomposition errors in six directions,including translation errors in three direction

关 键 词：机器人 农业机械 植保 对靶施药 误差补偿 位置解析 

分 类 号：S224.3[农业科学—农业机械化工程]