蠕虫形植物采样机器人设计  

Design of a Worm Shaped Plant Sampling Robot

作　　者：袁秣颇 李晶 吕海霆[1] YUAN Mopo;LI Jing;LV Haiting(School of Mechanical Engineering,Dalian University of Science and Technology,Dalian 116052,China)

机构地区：[1]大连科技学院机械工程学院,辽宁大连116052

出　　处：《农机使用与维修》2023年第12期4-9,共6页Agricultural Machinery Using & Maintenance

基　　金：2023年国家级大学生创新创业训练计划项目(202313207017)。

摘　　要：因自然环境的不确定性,使人类活动受到一定限制,以及部分野外植物具有短期生长和不便采集的情况,该文设计了一种蠕虫形植物采样机器人进行处理。蠕虫形植物采样机器人由驱动系统、采样系统、识别系统三部分组成,通过识别系统和驱动系统的配合使其在自然环境中进行植物探测。通过卷积神经网络结合YOLOv7算法训练,识别到需要采样的植物后,超声波传感器检测机器人与植物间的距离,并由执行机构调整机械装置至适合位置,之后采样系统开始运作。固定爪夹合下方物体使机器人位置固定,电动推杆伸出后电动夹爪两个滑台闭合,通过切装头完成切割和植物样品储存。实现了对小型洞穴及陡峭斜坡环境下的野外植物采集,通过对机器人的远程操控避免探索人员进入危险环境,实现了保护探索人员安全的目的。In response to the problem of human activities being limited due to uncertainty in the natural environment,as well as the short-term growth and inconvenient collection of some wild plants,a worm shaped plant sampling robot is designed for processing.Worm shaped plant sampling robot is composed of three parts:driving system,sampling system and recognition system.Through the cooperation of recognition system and driving system,the robot can detect plants in the natural environment.Through Convolutional Neural Network combined with YOLOv7 algorithm training,when the plant to be sampled is identified,ultrasonic sensors detect the distance between the robot and the plant,and the actuator adjusts the mechanism to the appropriate position,and then the sampling system operates.The fixed claw clamps the object below to fix the robot’s position.After the electric push rod is extended,the two sliding tables of the electric claw are closed,and the cutting and storage of plant samples are completed through the cutting head.Implemented the collection of wild plants in small caves and steep slope environments,while protecting the safety of exploration personnel.

关 键 词：蠕虫形 机器人 植物采样 目标识别 

分 类 号：S232.9[农业科学—农业机械化工程]