吉林大学学报(工学版) ›› 2013, Vol. 43 ›› Issue (04): 991-996.doi: 10.7964/jdxbgxb201304024

• paper • Previous Articles     Next Articles

Design and testing of control system of mini-weeding-robot platform in rice paddy field

QI Long1,2, LIAO Wen-qiang2, MA Xu1,2, LIN Jian-heng2, OU Zhi-xing2, ZHAN Zhi-xun2   

  1. 1. Key Laboratory of Key Technology on Agricultural Machine and Equipment, Ministry of Education, South China Agricultural University, Guangzhou 510642, China;
    2. College of Engineering, South China Agricultural University, Guangzhou 510642, China
  • Received:2012-11-19 Online:2013-07-01 Published:2013-07-01

RICH HTML

0   

PDF (PC)

470

Abstract:

A control system of a mini-weeding-robot platform was developed based on C8051F340 single-chip microcomputer and tested in paddy field. The design process of the hardware and the flow of the software were described. The control system was composed of three module, the onboard control system module, the data translation and transmission module on PC and the remote control module. The remote control module can complete automatic navigation control with the image information and manual remote control. Field test results show that the mini-weeding-robot platform can walk in the paddy field with the speed of 0.2 m/s, eight-degree-of-freedom movement, and rapid response speed of 30 ms. The clean rate was 81.3% and the injury rate of rice seedlings was 3.6% using mechanical touching weeder.

Key words: agricultural engineering, rice paddy field, mini-weeding-robot platform, control system, design and testing

CLC Number: 

  • S224.1

[1] 马旭,齐龙,梁柏,等. 水稻田间机械除草装备与技术研究现状及发展趋势[J]. 农业工程学报,2011,27(6):162-168. Ma Xu, Qi Long, Liang Bai, et al. Present status and prospects of mechanical weeding equipment and technology in paddy field[J]. Transactions of the Chinese Society of Agricultural Engineering, 2011, 27(6): 162-168.



[2] 和同産業株式会社. 水田の草取り機. 日本专利:4057492,2007-12-21.



[3] 株式会社美善. 水田除草兼用溝切り機. 日本专利:2007105006,2007-04-26.



[4] 独立行政法人農業·食品産業技術総合研究機構,株式会社クボタ,井関農機株式会社.水田除草機. 日本专利:3965430,2007-06-08.



[5] 三菱農機株式会社,株式会社キュウホー.除草機. 日本专利:2007105006,2007-04-26.



[6] 王金武,牛春亮,张春建,等. 3ZS-150型水稻中耕除草机设计与试验[J]. 农业机械学报,2011,42(2):75-79. Wang Jin-wu, Niu Chun-liang, Zhang Chun-jian, et al. Design and experiment of 3ZS-150 paddy weeding-cultivating machine[J]. Transactions of the Chinese Society for Agricultural Machinery, 2011, 42(2): 75-79.



[7] 吴崇友,张敏,金诚谦,等. 2BYS-6型水田中耕除草机设计与试验[J]. 农业机械学报,2009,40(7):51-54. Wu Chong-you, Zhang Min, Jin Cheng-qian, et al. Design and experiment of 2BYS-6type paddy weeding-cultivating machine[J]. Transactions of the Chinese Society for Agricultural Machinery, 2009, 40(7): 51-54.



[8] 齐龙,马旭,谭祖庭,等. 步进式水田中耕除草机的研制与试验[J]. 农业工程学报,2012,28(14):31-35. Qi Long, Ma Xu, Tan Zu-ting, et al. Development and experiment of marching-type inter-cultivation weeder for paddy[J]. Transactions of the Chinese Society of Agricultural Engineering, 2012, 28(14): 31-35.



[9] Jeon Hong Y, Tian Lei F. Direct application end effector for a precise weed control robot[J]. Biosystems Engineering, 2009,104:458-464.



[10] Astrand Bjorn, Baerveldt Albert-Jan. An agricultural mobile robot with vision-based perception for mechanical weed control[J]. Autonomous Robots,2002,13:21-35.



[11] 郭伟斌,陈勇.基于模糊控制的除草机器人自主导航[J]. 机器人,2010,32(2):204-209. Guo Wei-bin, Chen Yong. Fuzzy control based autonomous navigation for a weeding robot[J]. Robot, 2010, 32(2): 204-209.



[12] 张春龙,黄小龙,耿昌兴,等. 智能锄草机器人系统设计与仿真[J]. 农业机械学报,2011,42(7):196-199. Zhang Chun-long, Huang Xiao-long, Geng Chang-xing, et al. Design and simulation of intelligent weeding robot system[J]. Transactions of the Chinese Society for Agricultural Machinery, 2011, 42(7): 196-199.



[13] 光井輝彰,広瀬貴士, 岩澤賢治,等. 水田用小型除草ロボット(アイガモロボット)の開発. 高岐阜県情報技術研究所研究報告,第10号,2009.
[1] WANG Yang, WANG Xiao-mei, CHEN Ze-ren, YU Jian-qun. Modeling method of maize kernels based on discrete element method [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1537-1547.
[2] WANG De-jun, WEI Wei-li, BAO Ya-xin. Actuator fault diagnosis of ESC system considering crosswind interference [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1548-1555.
[3] GONG Xun, JIANG Bing-jing, HU Yun-feng, QU Ting, CHEN Hong. Design and analysis of nonlinear state observer for master-slave two cell Urea-SCR system of diesel engine [J]. 吉林大学学报(工学版), 2018, 48(4): 1055-1062.
[4] CHEN Dong-hui, LYU Jian-hua, LONG Gang, ZHANG Yu-chen, CHANG Zhi-yong. Static rollover stability of semi-mounted agricultural machinery based on ADAMS [J]. 吉林大学学报(工学版), 2018, 48(4): 1176-1183.
[5] WANG Yang, LYU Feng-yan, XU Tian-yue, YU Jian-qun. Shape and size analysis of soybean kernel and modeling [J]. 吉林大学学报(工学版), 2018, 48(2): 507-517.
[6] JIA Hong-lei, ZHENG Jia-xin, YUAN Hong-fang, GUO Ming-zhuo, WANG Wen-jun, YU Lu-lu. Design and experiment of a Double-V-shaped furrow opener of soybean seeder [J]. 吉林大学学报(工学版), 2017, 47(1): 323-331.
[7] LIU Gang, JIN Li-qiang, CHEN Peng-fei. Vehicle traction control algorithm based on optimal slip ratio under complicated road conditions [J]. 吉林大学学报(工学版), 2016, 46(5): 1391-1398.
[8] CAO Hui-chao, LI Wei. Robust fault-tolerant control for nonlinear networked control system under discrete event-triggered communication scheme [J]. 吉林大学学报(工学版), 2015, 45(6): 1895-1905.
[9] WEI Wei, DAI Ming, LI Jia-quan, MAO Da-peng, WANG Hao. Design of airborne opto-electric platform control system based on ADRC and repetitive control theory [J]. 吉林大学学报(工学版), 2015, 45(6): 1924-1932.
[10] LU Xiao-hu, YU Dong, HU Yi, YAO Zhuang. Numerical control system information integration method based on agent [J]. 吉林大学学报(工学版), 2015, 45(6): 1980-1986.
[11] MA Wen-xing, ZHANG Yan, LEI Yu-long. Design and test of control system of hydrodynamic automotive transmission for heavy vehicle [J]. 吉林大学学报(工学版), 2015, 45(5): 1455-1460.
[12] XIAO Zhi-feng, LE Jian-bo, WU Nan-xing, LIU Xiang-dong. Effect of operation pressure on superheated steam fluidized bed drying [J]. 吉林大学学报(工学版), 2015, 45(4): 1375-1380.
[13] ZHANG Jin-bo,TONG Jin,MA Yun-hai. Abrasive wear characteristics of subsoiler tines with bionic rib structure surface [J]. 吉林大学学报(工学版), 2015, 45(1): 174-180.
[14] QI Long, TAN Zu-ting, MA Xu, CHEN Guo-rui, XIE Jun-feng, KUANG Jian-xia. Optimization and test of operational parameters of pneumatic vibration uniform-seeds device [J]. 吉林大学学报(工学版), 2014, 44(6): 1684-1691.
[15] ZHAO Jian, ZHANG Jin,ZHU Bing, WU Jian. Test and application of hydraulic control unit in automotive traction control system [J]. 吉林大学学报(工学版), 2014, 44(5): 1240-1246.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
No Suggested Reading articles found!
Copyright © Journal of Jilin University(Engineering and Technology Edition), All Rights Reserved.
Tel: +86-431-85095297　Fax: +86-431-85094074　E-mail: xbgxb@jlu.edu.cn
Powered by Beijing Magtech Co. Ltd