基于ROS的大棚除草机器人设计

Design of Greenhouse Weeding Robot Based on ROS

摘要:

为了解决人工除草效率低下的问题,设计了一种基于ROS(Robot Operating System)的大棚除草机器人系统。以英伟达Jetson Xavier NX和STM32分别作为主控制器和从控制器,将激光雷达、深度相机和三轴陀螺仪/加速度传感器分别安装在除草机器人的正前方、顶层中部和底层中部,获取机器人行进路线周围的信息和机器人的姿态信息,然后进行分析、处理、3D建图和导航。主控制器与从控制器通过串口通信方式交互命令和数据,协同工作。从控制器通过PID控制算法控制除草机器人运动和机械臂动作进行喷药除草。实验结果表明,在正常的光线环境下,除草机器人能够以0.3m/s的速度进行喷药除草,除草效果良好,系统运行稳定。

Abstract:

In order to solve the problem of low efficiency of manual weeding, a ros-based weeding robot system for greenhouse was designed. Using Nvidia Jetson Xavier NX and STM32 as the master controller and slave controller respectively. The laser radar, depth camera and three-axis gyroscope/acceleration sensor were installed in the front, middle of the top and middle of the bottom of the weeding robot respectively to obtain the information around the robot’s traveling path and the robot’s post information. Then analyze, process, 3D map and navigate the robot. The master controller and slave controller work together to interact commands and data through serial communication. The slave controller controls the movement of weeding robot and the movement of mechanical arm through PID control algorithm to spray and weed. The experimental results show that under normal light environment, the robot can spray weed at a speed of 0.3m/s, and the weeding effect is good, and the system runs stably.