智能锄草机器人系统设计与仿真.pdfVIP

20 1 1年7 月 农 业 机 械 学 报 第42 卷 第7 期 智能锄草机器人系统设计与仿真* 张春龙摇 黄小龙摇 耿长兴摇 张俊雄摇 李摇 伟 (中国农业大学工学院,北京 100083) 摇 摇 揖摘要铱摇 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郾5m/ s 内连续可调,每组转臂可绕其 自身Z轴360毅自由旋转。 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。 关键词:锄草机器人摇 移动机器人平台摇 苗间锄草摇 三指手爪机构摇 仿真摇 设计 中图分类号:TP242郾6 文献标识码:A 文章编号:1000鄄1298(2011)07鄄0196鄄04 Design and Simulation of Intelligent Weeding Robot System Zhang Chunlong摇 Huang Xiaolong摇 Geng Changxing摇 Zhang Junxiong摇 Li Wei (College of Engineering,ChinaAgricultural University,Beijing 100083,China) Abstract In ordertosolvetheproblemsofweedingrobotincludingtheflexiblemovementinfieldandremoving weedswithout injuring crop seedlings,the principle of intelligent weeding robot system and the mobile robot platform were studied. The mobile platform was a four鄄wheel driven and four鄄wheel steering robot. It could move within the speed of0~1郾5m/ sand each leg could rotatefreely aroundZ鄄axisof itself. A three鄄finger manipulatorwasalso designed. Allthethreefingerscouldrotatearoundtheirpublic鄄axisand one of them could also around itsownZ鄄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 seedlingswhilethetwofixedfingerswouldremovetheweedsbetweentwo crop seedlings continuously. The simulation of the trajectories of three鄄finger manipulator showed that more than90% weeds could be removed when a manipulator wa