智能锄草机器人系统设计与仿真

针对锄草机器人田间运动及锄刀避苗锄草等作业问题,阐述了智能锄草机器人系统工作原理,研究了移动机器人平台,平台为四轮驱动、四轮独立转向,可实现运动速度在0～1.5 m/s内连续可调,每组转臂可绕其自身Z轴360°自由旋转.设计了三指手爪锄草机械手,三指公转,其中一指为活动手指可同时自转,锄草机器人工作时两个固定指的割刀连续入土锄草,系统根据机器视觉苗草位置信息,通过控制活动手指的旋转速度与方位角实现瞬时位置调整,进而通过拟合指端旋移曲线即可完成锄草和避苗等作业任务.苗间锄草仿真分析表明,在有效避苗基础上,作物行两侧各布置一组锄草机械手时锄草率可达90％以上.

Design and Simulation of Intelligent Weeding Robot System

In order to solve the problems of weeding robot including the flexible movement in field and removing weeds without injuring crop seedlings, the principle of intelligent weeding robot system and the mobile robot platform were studied. The mobile platform was a four-wheel driven and four-wheel steering robot. It could move within the speed of 0~1.5 m/s and each leg could rotate freely around Z-axis of itself. A three-finger manipulator was also designed. All the three fingers could rotate around their public-axis and one of them could also around its own Z-axis. When the robot worked, based on the location information of seedlings and weeds gotten by the machine vision, the rotation speed of movable finger could be controlled to avoid injuring the seedlings while the two fixed fingers would remove the weeds between two crop seedlings continuously. The simulation of the trajectories of three-finger manipulator showed that more than 90% weeds could be removed when a manipulator was installed on each side of crop rows.