可变轮轴距全向移动大田作物表型信息获取机器人底盘设计与试验  

Design and Experiment of Robot Chassis for Information Acquisition with Variable Wheelbase Omnidirectional Movement

作　　者：鹿昆磊 韩振浩 朱立成[1,2] 冯旭光 陈曦 王瑞雪 LU Kunlei;HAN Zhenhao;ZHU Licheng;FENG Xuguang;CHEN Xi;WANG Ruixue(Chinese Academy of Agricultural Mechanization Sciences Group Co.,Ltd.,Beijing 100083,China;State Key Laboratory of Agricultural Equipment Technology,Beijing 100083,China;China Agricultural Mechanization Association,Beijing 100122,China)

机构地区：[1]中国农业机械化科学研究院集团有限公司,北京100083 [2]农业装备技术全国重点实验室,北京100083 [3]中国农业机械化协会,北京100122

出　　处：《农业机械学报》2025年第3期27-38,共12页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家重点研发计划项目(2021YFD2000105);中国机械工业集团有限公司青年科技基金项目(QNJJ-PY-2022-31)。

摘　　要：为进一步提升表型信息获取机器人底盘通用性、机动性等田间行驶性能,结合我国大田作物表型信息获取实际需求,设计了一种移动式可变轮轴距信息获取机器人底盘。根据大田作物田间种植农艺需求和行驶地形路况,确定机器人底盘整机结构、工作原理以及技术参数;开展底盘驱动系统、动力系统、减震悬架等关键部件设计,并进行元件选型与参数校核;开发底盘变轮轴距行走控制系统,确定轮距调整和行走转向控制逻辑;试制样机进行机器人底盘性能试验。试验结果表明,表型信息获取机器人底盘直线行驶性能良好,硬质地面平均偏驶率小于0.60%,田间地面平均偏驶率小于1.26%;底盘转向机动性能良好,硬质地面原地转向单圈偏移量小于3.52 mm,阿克曼转向转弯半径小于1.76 m,田间地面原地转向单圈偏移量小于5.18 mm,阿克曼转向转弯半径小于1.77 m;变轮距精度良好,最大轮距误差小于0.01 m,可适应不同行距作物;通过性能良好,可翻越120 mm垂直障碍,满足田埂地头复杂路况行走要求。机器人底盘整机工作性能满足大田地形管理作业要求,可为小麦、玉米、露地蔬菜田间管理作业的有效实施提供应用平台和技术支撑。Aiming to further improve the versatility,mobility,and field performance of the phenotypic information acquisition robot chassis,a mobile variable-track chassis was designed based on the actual needs of field crop phenotypic information acquisition in China.Firstly,the overall structure,working principle,and technical parameters of the chassis were established according to the agronomic requirements for field crop planting and driving terrain conditions.Next,the design of key components,such as the chassis drive system,power system,and shock absorption suspension,was carried out,along with component selection and parameter verification.A chassis variable-track walking control system was developed,determining the control logic for track adjustment and walking transformation.Finally,a prototype was built to conduct performance tests.The results showed that the chassis exhibited excellent straight-line driving performance,with an average deviation rate of less than 0.60%on hard surfaces and less than 1.26%on field surfaces.It demonstrated good steering maneuverability,with a single-turn offset less than 3.52 mm for in-place turning on hard surfaces,an Ackermann steering turning radius less than 1.76 m,and a single-turn offset less than 5.18 mm for in-place turning on field surfaces,along with an Ackermann steering turning radius less than 1.77 m.The variable track width accuracy was also commendable,with maximum track error less than 0.01 m,making it adaptable to crops with different row spacings.The chassis showed good passability,capable of overcoming 120 mm vertical obstacles,thus meeting the requirements for navigating complex terrain like field ridges and headlands.Overall,the machine's performance met the requirements for field terrain management operations,providing a comprehensive application platform and technical support for effective field management in wheat,corn,and open-field vegetable cultivation.

关 键 词：表型信息获取 独立驱动转向 可变轮轴距 全向移动底盘 

分 类 号：S225.93[农业科学—农业机械化工程]