关键词: 田间除草机器人, 移动底盘, 独立转向, 月牙铲, S形行间刀, 低矮稀植

Abstract: To address the limitations of traditional herbicide spraying and outdated micro-cultivator weeding equipment, a field weeding robot was developed. The robot consisted of a mobile chassis, weeding mechanism, power system, motion control system, navigation and path planning system, and an image recognition system. First, the mobile chassis was designed using theoretical calculations and 3D parametric modeling. The structure featured an adjustable wheel base and longitudinal height, and a gantry-type four-wheel independent drive chassis with steer-by-wire control. Next, the weeding mechanism was developed based on motion trajectory analysis. It combined an S-shaped inter-row weeding blade and a crescent-shaped inter-plant weeding blade. This system included an electric push-rod lifting device and a lateral sliding adjustment mechanism for precise operation. Finally, field experiments were conducted to evaluate the robots performance. The results showed that at a travel speed of 0.3 m/s, with the crescent blade rotating at 1.3 r/s and operating at a depth of 3 cm, the seedling injury rate remained below 5%, while the weed removal rate exceeded 95%, the robot achieved a working efficiency of no less than 0.2 hm2/h in fields with a transport slope of up to 15° and a planting slope of no more than 5°. This study provides a valuable reference for the field management of low-growing cash crops.

Key words: field weeding robot, moving chassis, independent steering, crescent shovel, S-shaped interline knife, low planting