Research Of A Robot System For Multi-assistant Managing In The Orchard And Its Design

Agriculture is the basic domain of human being living and guaranteeing the steady, persistent, healthy social development. It is not only the government job but also divine task of the sciencer and technician how make the science and technology join to agriculture. Presently, robotic application appears the trend to turn the single industrial field into medical field, service, military affairs and agriculture. It is the task how make robot apply in the managing of multi-task in the orchard. Managing in the orchard is simpler in some aspect than industry application, at the same time, is the much more difficult and challenging. Thereinto, it's very serious problem that multi-type environment structure is in concurrence, such as normal structure, half- structure and non- structure. In addition, it is very trouble including multi-style working, different proficiency of user and so on. Therefor, the utility, high- efficiency, security and credibility are the basic premise in agricultural robotic application.Firstly, the paper makes certain the project domain and constitutes the research target by analyzing its characteristic. Environment modeling and path-planning are the kernel of experiment system. At the same time, the whole project, the idea of implement and technology route are established. Robotic configuration principle, sensor configuration and software environment are discussed.Secondly, the thesis introduces the method of environment modeling by discussing in detail the character of the working field. Moreover, it expatiates the boundary of orchard, tree appearance, ruderal model and environment modeling divided and merged and so on.The article describes planning route of transportation and clean-upping weed in the orchard. Hereon, the clean-upping weed planning is much representative. It requests robot reaches every area in the orchard and doesn't injure the tree in condition of optimization of time, distance and energy. The tree grows up from sapling to big tree, which bring the enormous effect for task. In consideration of guaranteeing the work implementation reaching every corner, planning method must be flexible and usable.Finally, the paper discusses the technical achievement on the basis of experiment and testing result. It briefly argues the shortage and points out henceforth direction.