Research on structure design and control of intelligent weeding robot in hilly orchard
The current situation of orchards in hilly and mountainous areas is complex terrain,and the planting characteristics and structural information of orchards are diverse.The weeding machinery currently used has problems such as unstable performance,insufficient adaptability,and low intelligence.A tracked chassis hilly orchard intelligent weeding robot was developed,which overall structure was small in size,light in weight and strong in climbing ability.This weeding robot uses oil-electric hybrid power to design a cutter lifting ground profiling device,which could realize remote control of the weeding robot through wireless communication.Based on SLAM technology,the three-dimensional map construction,path planning and autonomous navigation of orchard were realize,and the contact sensor and binocular camera are fused to detect and identify the obstacles in orchard.Combined with real-time positioning information,the migration path was optimized to realize automatic obstacle avoidance.In the field environment of hilly and mountainous orchards,the structural performance test and navigation obstacle avoidance performance test of the weeding robot were carried out.The results showed that the intelligent weeding robot meets the design requirements,that is,the radius of the chassis steering circle was less than or equal to 1.5 m,and the navigation accuracy was less than or equal to 2 cm.The weeding operation speed was between 0～5 km/h,the missed cutting rate was less than or equal to 5%,and the obstacle avoidance rate was greater than or equal to 95%.
hilly orchardweeding robotstructural designcontrol system
NETL
NSTL
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