基于WiFi通信的玉米除草机器人结构设计与试验

doi:10.13733/j.jcam.issn.20955553.2022.04.019

摘要/Abstract

摘要： 针对目前玉米除草机器人除草率低、伤苗率高的问题，设计一种基于WiFi通信的玉米除草机器人。该装置包括除草机器人本体、大功率WiFi中继器和控制端，控制端为手机，可通过无线WiFi向除草机器人传输控制指令。除草机器人本体包括小车主体、轮动装置、机械臂以及末端执行组件，机械臂末端执行组件为人字形结构转盘，由锯齿圆形刀片、合金抓手、针型喷雾头组成。末端执行组件采用刀片机械除草加除草剂化学喷雾的方式，在机械除草完毕后喷洒除草剂。基于ARM11和STM32实现玉米除草机器人的控制，通过摄像头自动识别杂草位置，经ARM11主控板处理分析后，向各个STM32从控制板发送指令，由STM32从控制板完成对除草机器人各个部件的控制，也可由手机控制端通过大功率WiFi中继器发送控制指令，实现对除草机器人各个部件的手动控制。在土槽实验室进行正交试验，试验结果表明，该装置在工作速度为0.6 m/s、除草深度为30 mm的条件下，平均除草率为94.9%，平均伤苗率为1.9%，具有较好的作业性能，智能化程度高，可以为农业除草装置的后续研究提供参考。

关键词: 除草机器人, 末端执行组件, “机械+化学”除草方式, 锯齿圆形刀片

Abstract: Aiming at the problems of low weeding speed and high seedling injury rate of corn weeding robot at present, a corn weeding robot based on WiFi communication was designed. The device comprised of a weeding robot body, a highpower WiFi repeater and a control terminal, wherein the control terminal was a mobile phone that transmitted control instructions to the weeding robot through wireless WiFi. The weeding robot body comprised of a trolley body, a wheel device, a mechanical arm, and a terminal execution component. The actuating component at the end of the mechanical arm was a turntable with a herringbone structure, which consisted of a serrated circular blade, an alloy gripper and a needle spray head. The endeffector adopted blade mechanical weeding and herbicide chemical spraying mechanism, whereby it sprayed the herbicide after mechanical weeding. The corn weeding robot was controlled based on ARM11 and STM32, and the position of weeds was automatically identified by camera. After being processed and analyzed by ARM11 main control board, the instructions were sent to each STM32 from the control board, and the STM32 completed the control of each part of the weeding robot from the control board. The mobile phone control terminal could also send control instructions through a highpower WiFi repeater to realize manual control of each part of the weeding robot. An orthogonal test was carried out in the soil tank laboratory, and the test results showed that the average weeding rate was 94.9% and the average seedling injury rate was 1.9% under the conditions of working speed of 0.6 m/s and weeding depth of 30 mm. The device showed good operation performance and high intelligence, which can provide reference for the subsequent research of agricultural weeding device.

Key words: , weeding robot, end execution component, “mechanical+chemical” weeding method, sawtooth circular blade

中图分类号:

S224.1+5

刁智华, 闫娇楠, 张萌, 贺振东, 娄泰山, 吴青娥. 基于WiFi通信的玉米除草机器人结构设计与试验[J]. 中国农机化学报, 2022, 43(4): 131-137.

Diao Zhihua, Yan Jiaonan, Zhang Meng, He Zhendong, Lou Taishan, Wu Qinge. . Structural design and analysis of corn weeding robot based on WiFi communication[J]. Journal of Chinese Agricultural Mechanization, 2022, 43(4): 131-137.

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