基于开放式结构的多功能农业机器人设计

Design of a multifunctional agricultural robot

目前农业机器人结构基本上以成熟的轮式移动为主,作物识别方式主要基于机器视觉,但农业机器人的应用普及仍面临困难,主要原因之一是由于成本高、功能单一。本文设计一种基于开放式思想的农业机器人,具备不同的作业功能,主要适用于具有行种植特征作物的喷洒、除草等作业。对农业机器人进行总体设计、控制系统设计以及作业操作功能设计,最后在田间进行农业机器人自主行走和作业试验,试验表明农业机器人自主行走平均偏差为38.5 mm,基本上可以沿作物行中心线自主行走,并且能够进行喷洒等作业。

At present,the structure of agricultural robot is based on mature wheeledmobile,and the crop identification method is mainly based on machine vision.However,the application of agricultural robot is still facing difficulties,One of the main reasons is the high cost and single function.This paper designs an agricultural robot based on the idea of open architecture,which has different operation functions and is mainly suitable for spraying and weeding operations with row characteristics.In this paper,the overall design,control system design and operation function design of agricultural robots are carried out.Finally,the autonomous walking and operation test of agricultural robots are carried out in the field.The test result shows that the autonomous agricultural robot can basically achieve the desired functionalities.The average deviation of the navigation is about 38.5 mm.The effect of spray was also well.