一种沙漠植树机器人的设计

Design of a robot for desert tree planting

为实现植被固沙,设计了一种沙漠植树机器人,通过深度相机实现视觉跟随进而判断树坑标记点,将获取的信息反馈后通过计算得到运动路线,植树机器人抵达工作位置后通过控制电机实现挖坑装置的升降和钻头旋转,基于沙子的高流动性特征设计了树坑挖掘装置来减少进入树坑的回流沙,进而保证树坑的完整性,随后通过传送带将植被运输至树坑内,灌溉的同时带动后部的回填装置完成散沙回填,稳定植被。本设计可为新疆干旱沙漠化治理提供参考。

In order to achieve sand fixation by vegetation,a desert tree-planting robot was designed,which realizes visual following through the depth camera and then judges the mark points of the tree pit.After feedback the acquired information,the movement route was calculated.After reaching the working position,the tree-planting robot realized the lifting of the pit digging device and the rotation of the drill by controlling the motor.Based on the high mobility characteristics of sand,a tree pit excavation device was designed to reduce the return flow of sand into the tree pit,thus ensuring the integrity of the tree pit.Then,vegetation was transported to the tree pit through the conveyor belt,and the backfill device at the back was driven to complete the loose sand backfill while irrigation,thus stabilizing the vegetation.This design can provide reference for the control of arid desertification in Xinjiang.