李南,陈子文,朱成兵,张春龙,孙哲,李伟.电驱锄草机器人系统设计与试验[J].农业机械学报,2016,47(5):15-20.
Li Nan,Chen Ziwen,Zhu Chengbing,Zhang Chunlong,Sun Zhe,Li Wei.System Design and Experiment of Electric Driven Weeding Robot[J].Transactions of the Chinese Society for Agricultural Machinery,2016,47(5):15-20.
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电驱锄草机器人系统设计与试验   [下载全文]
System Design and Experiment of Electric Driven Weeding Robot   [Download Pdf][in English]
投稿时间:2015-11-04  
DOI:10.6041/j.issn.1000-1298.2016.05.003
中文关键词:  电驱锄草机器人  机器视觉  伺服控制  试验
基金项目:国家高技术研究发展计划(863计划)项目(2013AA102406)、国家自然科学基金项目(31301232)、中央高校基本科研业务费专项资金项目(2015QC004)和北京高等学校青年英才计划项目(31056101)
作者单位
李南 中国农业大学 
陈子文 中国农业大学 
朱成兵 中国农业大学 
张春龙 中国农业大学 
孙哲 中国农业大学 
李伟 中国农业大学 
中文摘要:根据移栽蔬菜田间锄草作业工况和要求,基于视觉伺服控制技术,设计了电驱锄草机器人系统。该系统以中小功率拖拉机为配套动力,由伺服电动机驱动月牙形锄草刀护苗锄草和对行,减少了能耗与污染物排放,提高了系统伺服特性。机器视觉系统实时采集田间图像并处理,对作物进行识别与定位。控制器结合视觉系统获取的刀苗距、锄草机器人前进速度、锄刀相位角度及机器人横向偏差信息,利用智能伺服驱动器精确控制锄草刀避苗和对行。试验表明,在前进速度不高于1.5km/h、作物株距不小于 0.35m工况下,伤苗率小于10%,田间杂草锄净率约为90%。
Li Nan  Chen Ziwen  Zhu Chengbing  Zhang Chunlong  Sun Zhe  Li Wei
China Agricultural University,China Agricultural University,China Agricultural University,China Agricultural University,China Agricultural University and China Agricultural University
Key Words:electric driven weeding robot  machine vision  servo control  experiment
Abstract:With the increase of demand for organic vegetable, automated mechanical weeding machines are more and more in need. According to the working condition and requirement of weeding operation for transplanted vegetable crops, an electric driven weeding robot system was developed and tested. Carried by a middle or low horsepower tractor, the weeding robot could efficiently remove inter and intra row weeds. The system was equipped with a machine vision system, which acquired and processed field images in real time to recognize crops and obtain their locations. Four electric motors were used to drive three crescent weeding blades and the steering mechanism to avoid crops and follow crop rows. The system had two microcontrollers to control weeding blades and the steering mechanism separately. The controllers fused blade crop distance, phase position of motors and forward speed of robot, to accurately guide the weeding blades avoiding crops and tracking the rows. To evaluate the working performance of weeding robot, tests were conducted on concrete road surface and in field respectively. Results of the tests indicated that the robot could remove 90% weeds while the crop damage rate was less than 10%, when the speed was under 1.5km/h and plant spacing was above 0.35m. Compared with hydraulic driven weeding machine, it had lower energy consumption, less pollution and better servo property.

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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