果树剪枝机器人四驱式底盘控制系统设计与实现  

Design and implementation of a four-wheel drive chassis control system for fruit tree pruning robots

作　　者：王君玲 高玉芝 肖春英[1] WANG Junling;GAO Yuzhi;XIAO Chunying(Hebei Provincial Key Laboratory for Digital Design and Process Simulation of Intelligent Equipment,Tangshan University,Tangshan 063000,Hebei,China)

机构地区：[1]唐山学院河北省智能装备数字化设计及过程仿真重点实验室,河北唐山063000

出　　处：《农业装备与车辆工程》2024年第5期19-22,共4页Agricultural Equipment & Vehicle Engineering

基　　金：2022年唐山市科技局重点研发项目“果树剪枝机器人关键技术研究”(22150203A)。

摘　　要：能够自主完成果树修剪任务的机器人是目前林果业智能装备的一个主要研究方向。四驱底盘是机器人的基础,其控制系统设计对机器人的性能和稳定性有至关重要的作用。对果树剪枝机器人四驱式底盘控制系统进行设计,包括控制系统硬件选型和搭建、运动路径设计、避障算法、程序设计,并进行了验证。实验结果表明,剪枝机器人底盘控制系统的半自动控制可以实现模糊避障功能,为后续果树剪枝机器人的研究提供参考。The development of a robot that can independently complete the task of fruit tree pruning has become a popular research topic.The four-wheel drive chassis is the foundation of such robot,and the design of its control system plays a role of vital importance in the aspect of performance and robustness of the robot.The design of the fruit tree pruning robot's four-wheel drive chassis control system was completed,including control system's hardware selection and construction,motion path design,obstacle avoidance algorithm,and the simulation of algorithm.The experimental results showed that the semi-automatic control of the chassis control system of the pruning robot could realize the fuzzy obstacle avoidance function,which provided a reference for the research of fruit tree pruning robot.

关 键 词：果树剪枝 四驱底盘 控制系统 

分 类 号：S233.74[农业科学—农业机械化工程] TP242[农业科学—农业工程]