基于多路由协议的株间锄草机器人结构和控制优化设计

为获得理想的苗间机械锄草效果,提出了一种新的锄草机器人结构优化方法.该方法主要采用多目标优化模型对锄草末端结构进行设计,采用多路由协议对多锄草机器人进行协同控制,大大提高了田间锄草机器人的工作效率.在建立了机械锄草齿运动轨迹数学模型的基础上,结合现代农艺对机械锄草参数的限定及要求,建立了多目标优化模型,并利用MatLab优化工具箱得到最优解,将其应用在多机器人系统控制的多路由协议框架中.为了验证优化方法的有效性,在田间对多锄草机器人协同作业进行了试验,结果表明:优化后的多路由锄草机器人不仅大大提高了作业速度和锄草效率,而且降低了作物苗损失率,为大型中耕除草机的设计提供了理论依据.

Control Optimization Design and Structure of Plant Weeding Robot Based on Muti-routing Protocols

In order to obtain the ideal effect of mechanical weeding between seedlings,it presents a new structural optimi-zation method of weeding robot.It adopts the multi-objective optimization model to design the terminal structure of wee-ding, the cooperative control of multiple weeding robot with multiple routing protocols,greatly improving the work efficien-cy of field weeding robot.Based on the established mechanical weeding tooth trajectory mathematical model, it was com-bined with the requirements of modern agriculture to the limit and mechanical weeding parameters.The multi-objective optimization model is established,and the optimization toolbox of Matlab to obtain the optimal solution and its application in multi robot routing protocol system control framework.In order to verify the validity of the optimization method,experi-ments are carried out in collaboration of multi field weeding robot, it found through experiments, the multi routing wee-ding robot after optimization,not only greatly improves the operation speed and the weeding efficiency,but also reduce the crop loss rate, which provides a theoretical basis for the design of rotary tillage weeding machine in large scale.