旱地株间除草机器人设计与试验OA

Due to the different distribution locations of farmland weeds,the overall can be divided into two categories:inter-row weeds,inter-plant weeding,in which inter-plant weeding is close to the crop,and the weeding operation is intermittent,so the key problem of mechanical weeding is to solve the complexity of inter-plant weeds.In order to solve the problems of poor plant spacing adaptability and high seedling damage rate of interplant mechanical weeding robot,an intelligent interplant weeding robot system was proposed based on visual guidance.The system consisted of a moving chassis,weeding parts,a visual identity system and a control system.Among them,the weeding mechanism adopted non-circular gear planetary gear train transmission,and realized seedling avoidance and weeding through eccentric trajectory planning.Based on the Otsu adaptive threshold segmentation algorithm,the vision system established crop-weed identification and positioning based on area threshold.The system used visual recognition results to control the movement trajectory of the weeding mechanism and the inter-plant operation time.The experiments showed that the robot's average recognition rate reached 93.99%;when the chassis moved at a speed of 0.4 m/s,the weeding rate was not less than 92.23%under different working conditions,with an overall average weeding rate of 93.70%,and the average seedling injury rate was 3.90%.The experimental results verified the adaptability of the robot for weeding between multiple crops.