张春龙,黄小龙,耿长兴,张俊雄,李伟.智能锄草机器人系统设计与仿真[J].农业机械学报,2011,42(7):196-199,185.
Zhang Chunlong,Huang Xiaolong,Geng Changxing,Zhang Junxiong,Li Wei.Design and Simulation of Intelligent Weeding Robot System[J].Transactions of the Chinese Society for Agricultural Machinery,2011,42(7):196-199,185.
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智能锄草机器人系统设计与仿真   [下载全文]
Design and Simulation of Intelligent Weeding Robot System   [Download Pdf][in English]
  
DOI:10.3969/j.issn.1000-1298.[year].[issue].[sequence]
中文关键词:  锄草机器人  移动机器人平台  苗间锄草  三指手爪机构  仿真  设计
基金项目:“十二五”国家科技支撑计划资助项目(2011BAD20B07)、高等学校博士点专项科研基金资助项目(20090008110007)和中国农业大学研究生科研创新专项资助
作者单位
张春龙 中国农业大学 
黄小龙 中国农业大学 
耿长兴 中国农业大学 
张俊雄 中国农业大学 
李伟 中国农业大学 
中文摘要: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0~1.5m/s内连续可调,每组转臂可绕其自身Z轴360°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。
Zhang Chunlong  Huang Xiaolong  Geng Changxing  Zhang Junxiong  Li Wei
China Agricultural University;China Agricultural University;China Agricultural University;China Agricultural University;China Agricultural University
Key Words:Weeding robot, Mobile robot platform, Intra-row weeding, Three-finger manipulator, Simulation, Design
Abstract:In order to solve the problems of weeding robot including the flexible movement in field and removing weeds without injuring crop seedlings, the principle of intelligent weeding robot system and the mobile robot platform were studied. The mobile platform was a four-wheel driven and four-wheel steering robot. It could move within the speed of 0~1.5 m/s and each leg could rotate freely around Z-axis of itself. A three-finger manipulator was also designed. All the three fingers could rotate around their public-axis and one of them could also around its own Z-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 seedlings while the two fixed fingers would remove the weeds between two crop seedlings continuously. The simulation of the trajectories of three-finger manipulator showed that more than 90% weeds could be removed when a manipulator was installed on each side of crop rows.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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