农用机器人底盘控制系统的设计  

Design of Chassis Control System for Agricultural Robots

作　　者：张艳兵[1] 徐鹏跃 李卓 张洪强[1] Zhang Yanbing;Xu Pengyue;Li Zhuo;Zhang Hongqiang(Vehicle Engineering Department,Cangzhou Technical College,Cangzhou 061001,China)

机构地区：[1]沧州职业技术学院车辆工程系,河北沧州061001

出　　处：《农机化研究》2025年第6期208-213,共6页Journal of Agricultural Mechanization Research

基　　金：河北省“三三三人才工程”资助项目(B20180903);河北省自然科学基金项目(E2018209046)。

摘　　要：农用机器人可以执行农业种植、收割、施肥、喷洒农药、除草和土壤分析等生产活动,能够显著提高农业生产的效率。农用机器人的底盘可以保证在不平坦的地形和复杂的障碍物中自由移动,其稳定性、灵活性和可靠性直接影响机器人的导航能力和任务执行效率。为了进一步促进农用机器人的智能化和高效化,基于CANopen通讯协议与伺服电机驱动通信,设计了一套完整、高效的运动控制算法,保证农业机器人底盘可以在田间灵活、高效地移动,实现了多种运动方式,并保证底盘能在复杂的施工环境中灵活移动。田间测试表明:在不同的农田环境中,底盘能够灵活地适应地形和避开障碍物,实现了多种运动方式的转换,并高效地完成农业生产任务。Agricultural robots can perform production activities such as agricultural planting,harvesting,fertilization,pesticide spraying,weeding and soil analysis,which can significantly improve the efficiency of agricultural production.The chassis of agricultural robots can ensure the ability to move freely through uneven terrain and complex obstacles,and their bottom stability,flexibility and reliability directly affect the robot’s navigation ability and task execution efficiency.In order to further improve the intelligent and efficient work of the agricultural robot,designed a complete and efficient motion control algorithm based on CANopen communication protocol and servo motor drive communication to ensure that the chassis of the agricultural robot can move flexibly and efficiently in the field,realized multiple motion modes and ensured that the chassis can move flexibly in the complex construction environment.Field tests showed that the chassis can flexibly adapt to the terrain and avoid obstacles in different farming environments,realized multiple movement modes and completed agricultural tasks efficiently.

关 键 词：农用机器人 底盘控制系统 CANopen通讯协议 伺服电机驱动通信 运动控制算法 

分 类 号：S219.89[农业科学—农业机械化工程]