瓜果自动施药机器人系统的研究与设计

Research and Design of Melon and Fruit Automatic Dispensing Robot System

该研究针对大棚种植的爬架类瓜果,设计了一种地面行走、施药高度和角度均可调节的自动施药机器人,具有体积小、转向灵活、场地适应性强、节省药剂等优点。系统采用双CPU并行结构,SPI通信协议,将机器人避障行走、路径规划的功能与视觉识别、对靶施药的动作分离控制,提高了系统的运行效率。

In this study, aiming at the fruits and melons planted in the greenhouses, a kind of automatic application robot with adjustable ground walking, application height and Angle is designed, which has the advantages of small size, flexible steering, strong site adaptability and drug saving. The system adopts dual CPU parallel structure and SPI communication protocol. The functions of obstacle avoidance walking, path planning, visual recognition and target dispensing are separating controlled to improve the operating efficiency of the system.