摘要
为实现温室蔬菜移栽无人智能化作业,设计了基于ROS架构的蔬菜移栽机器人控制系统,实现了蔬菜移栽机器人自主取苗部件、秧苗栽植部件和自主移动平台的自动控制。控制系统主要分为总线单元和导航单元,并基于EtherCAT总线和Realsense深度相机搭建硬件系统,利用分层模块化理念开发基于ROS架构的软件控制系统,搭建并实现了移栽作业中取苗、投苗、栽苗及移动平台协同一体化控制。实验结果表明:在大于2s/株的取栽苗周期运动条件下,可实现较高成功率的移栽作业。所设计控制系统保证了移栽作业成功率,提高了当前蔬菜移栽机的智能化水平。
In order to realize the unmanned intelligent operation of vegetable transplanting in greenhouse,the control system of vegetable transplanting robot based on ROS architecture is designed in this paper.The control system realizes the automatic control of the vegetable transplanting robot's autonomous seedling picking parts,seedling planting parts and autonomous mobile platform,which is divided into bus unit and navigation unit.The hardware system is built based on the EtherCAT bus and depth camera,and the ROS software system is developed using the layered modular concept,and the collaborative integrated control of seedling picking,seedling dropping,seedling planting and mobile platform in the transplanting operation is built and realized.The experiment shows that the transplanting operation with high success rate can be achieved under the condition of taking and transplanting seedlings with a period of more than 2s/plant.The designed control system ensures the success rate of transplanting operation and improves the intelligence of the current vegetable transplanting machine.
作者
马文强
冯青春
李亚军
茹孟菲
赵春江
Ma Wenqiang;Feng Qingchun;Li Yajun;Ru Mengfei;Zhao Chunjiang(College of Information Engineering,Northwest A&F University,Yangling 712000,China;Intelligent Equipment Technology Research Center,Beijing Academy of Agricultural and Forestry Sciences,Beijing 100097,China;National Research Center of Intelligent Equipment for Agriculture,Beijing100097,China;Beijing Key Laboratory of Agricultural Intelligent Equipment Technology,Beijing 100097,China)
出处
《农机化研究》
北大核心
2025年第2期54-60,共7页
Journal of Agricultural Mechanization Research
基金
国家重点研发计划项目(2019YFE0125200)。
作者简介
马文强(1998-),男,西安人,硕士研究生,E-mail:879084193@qq.com;通讯作者:赵春江(1964-),男,河北保定人,院士,博士,E-mail:zhaocj@nercita.org.cn。
