设施内自主移动装备导航控制技术研究进展

doi:10.13733/j.jcam.issn.2095⁃5553.2022.03.022

摘要/Abstract

摘要： 设施内自主移动装备研发是设施农业智能化发展的关键，装备如何在设施内安全、快速、精准地移动是当前设施移动装备应用的难点。结合近些年国内外设施自主移动装备研究现状，首先对设施自主移动装备的应用进行介绍，然后根据导航模式的不同对其导航技术的研究进展进行重点阐述。总体来说，导轨式和循迹式路线固定、安装应用成本相对较高，作业范围小；基于SLAM（同步定位与建图）技术的多源数据融合式结构紧凑、自主规划路径、导航避障效率高，作业范围大。最后对我国设施自主移动机器人研发提出4点展望：机器人采用电力驱动；机器人设计小型化、模块化；重点研发设施SLAM技术；发展多功能通用移动平台，以期为我国设施自主移动机器人智能化发展提供参考。

关键词: 设施, 自主移动, 导航, SLAM, 机器人

Abstract: The key to intelligent development of greenhouse agriculture is researching autonomous mobile equipment in greenhouse. The current difficulty of the application of mobile equipment in greenhouse is how to make sure equipment moves safely, quickly and accurately. Combining the research status of greenhouse autonomous mobile equipment at home and abroad in recent years, the application of greenhouse autonomous mobile equipment was introduced. The research progress of navigation technology according to the different navigation modes was then emphatically expounded. In general, the routes of both guide rail type and tracking type were fixed, the costs of its installation and application were relatively high and their working ranges were small. The multi⁃source data fusion based on SLAM（Simultaneous Localization and Mapping） technology had the advantages of compact structure, autonomous path planning, high efficiency of navigation and obstacle avoidance, and large operation range. Finally, four prospects for the research and development of greenhouse autonomous mobile robot in China were put forward which include development of electric powered robots, miniaturization and modularization of robot design, focusing on SLAM technology in greenhouse, and developing multi⁃functional universal mobile platforms. This research will provide reference for intelligent development of greenhouse autonomous mobile robot in China.

Key words: greenhouse, autonomous mobile, navigation, SLAM, robot

中图分类号:

S224

姜赛珂, 张美娜, 李雪, 祁雁楠, 吕晓兰, . 设施内自主移动装备导航控制技术研究进展[J]. 中国农机化学报, 2022, 43(3): 159-169.

Jiang Saike, Zhang Meina, Li Xue, Qi Yannan, Lü Xiaolan.. Development of navigation and control technology for autonomous mobile equipment in greenhouses[J]. Journal of Chinese Agricultural Mechanization, 2022, 43(3): 159-169.

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