摘要
为适应水田行走和不同垄宽等复杂的农艺条件,设计了一种轮距宽度可调的高地隙四驱农田信息采集机器人。利用SolidWorks对整体结构进行设计分析和零部件选型,设计了基于GNSS和INS的组合导航与路径跟踪控制系统,并对机器人进行了水田行走性能测试和信息采集试验。结果表明,机器人四轮驱动方式具备较好的速度一致性,地隙与轮距调节机构调节到位误差率为1.33%和0.73%;直线路径跟踪的平均横向误差为6.8 cm,直角转弯的平均收敛时间为25.6 s;机器人最大行驶速度为1 m/s,单点信息采集平均耗时为24.5 s,传感器采集的各类数据均满足使用要求,该信息采集机器人可实现复杂条件下的农田信息采集工作。
Under the background of rapid development of intelligent agriculture with information,knowledge and equipment as the core,intelligent robots have gradually replaced the traditional methods of farmland information collection and received more and more attention.In order to adapt to the complex agronomic conditions such as paddy field walking and different ridge widths,an upland gap four-wheel drive farmland information acquisition robot with adjustable wheel spacing was designed.By using SolidWorks,the overall structure was designed and analyzed and parts were selected.The trial-production of the robot was completed.A combined navigation and path tracking control system based on GNSS and INS was designed.The results showed that the four-wheel drive mode of the robot had good speed consistency and strong anti-interference ability.The error rates of the ground gap and wheel pitch adjusting mechanism were 1.33%and 0.73%.A comprehensive path tracking algorithm based on double tangent circle line was proposed.Compared with the pure tracking algorithm,the amplitude of oscillation was reduced by 75.0%and the convergence time was reduced by 28.5%.The average lateral error of the robot linear path tracking was 6.8 cm,and the average convergence time of right-angle turns was 25.6 s.The maximum speed of the robot was 1 m/s,and the average time of single point information acquisition was 24.5 s.All kinds of data collected by the sensor met the application requirements.The information acquisition robot can complete the work of farmland information acquisition quickly,efficiently and accurately under the complex conditions of paddy field.
作者
汪小旵
李泽晟
陈彦宇
黄薛凯
张晓蕾
WANG Xiaochan;LI Zesheng;CHEN Yanyu;HUANG Xuekai;ZHANG Xiaolei(College of Engineering,Nanjing Agricultural University,Nanjing 210031,China;Jiangsu Province Engineering Laboratory for Modern Facility Agriculture Technology and Equipment,Nanjing 210031,China)
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2023年第6期65-77,共13页
Transactions of the Chinese Society for Agricultural Machinery
基金
国家重点研发计划项目(2019YFE0125201)。
关键词
机器人
农田信息
信息采集
组合导航
路径跟踪
robot
farmland information
information collection
integrated navigation
path tracking
