一种用于农田除草的智能机器人设计

Design of an Intelligent Field Weeding Robot

为了能够智能除草并且提高除草效率,研发一台能够实现无导航自走、自动控制识别除草的农田智能机器人。以Arduino单片机和Openmv视觉模块为控制核心,首先根据田垄与垄沟的地形,设计机器人的行走航线;其次运用机器视觉,对杂草进行精准定位;最后通过控制舵机带动机械臂上的除草装置对杂草进行准确清除。通过对超声波传感器和光电传感器、除草装置的合理设计与布局,实现在田垄中行走、除草的自动化控制。根据模拟农田实验中测得数据,该智能除草机器人可以实现80%~90%的杂草识别率,70%~81%的杂草清除率,基本上能够验证该除草机器人的可行性与实用性。

In order to weed intelligently and improve weeding efficiency,an intelligent field robot was developed,which could walk without navigation and automatically control.Based on Arduino and Openmv,firstly,the walking route of the robot was designed according to the topography of field and furrow.Secondly,the weeds were accurately located from the machine vision.Finally,the weeds were removed accurately by controlling the steering gear to drive the weeding device on the mechanical arm.Through the reasonable design and layout of ultrasonic sensor,photoelectric sensor and weeding device,the automatic control of walking and weeding in the field ridge was realized.According to the data obtained from the simulated field experiment,the intelligent weeding robot can realize 80%-90%weed recognition rate and 70%-81%weed removal rate,which can basically verify the feasibility and practicability of the weeding robot.