Design And Experiment Of An Orchard Teleoperated Weeding Robot Based On Ros

In recent years,the fruit tree planting industry in China has developed rapidly.With the current demand for mechanization and intelligent weeding equipment in standardized orchards,an teleoperated weeding robot composed of an obstacle-avoiding weeding operation module and a crawler electric platform was designed in this paper.The robot was electrical drive and environmentally friendly.The work module and the electric platform could be quickly hooked up through an electric three-point hitch system.A complete machine control system based on ROS was designed,as well as a remote-control system.The operators can remotely control the robot with the joystick and the front camera screen to reduce labor intensity and protect the physical and mental health of the operator.Finally,the operation effect and reliability of the robot were tested and analyzed.The main research contents and results of this article are as follows:(1)Module design for obstacle avoidance and weeding operations.According to the needs of automated weeding operations in the orchard,a design plan for the obstacle avoidance and weeding module was formulated.the module was towed by an electric platform,which adopted a standard three-point suspension hook and motor drive.The function of simultaneous intro-raw and inter-raw weeding was equipped by the module.The key components were designed and selected.(2)Design of crawler electric platform.A design plan for a crawler electric platform was formulated.The platform was powered by a power battery,driven by dual motors.It could be remotely controlled via a WIFI network.An electric three-point hitch system mounted on the platform was designed,which could be connected to the weeding operation module for orchard weeding operations.(3)Design of complete machine control system and remote-control system.The whole machine control system and remote-control system of the weeding robot were designed.The whole machine control system was built based on ROS.The network communication,sensor information collection and servo motor driver program were designed.The programs ran on the industrial computer equipped with the electric platform.The remote-control system was built based on QT,using the flying joystick to issue operation instructions.The remotecontrol interface can display information such as the front screen of the robot.In view of the complicated driving conditions of the orchard and the difficult remote control,an aided system based on AR was designed.(4)Orchard operation and weeding test.In the orchard simulation environment,the remotecontrol test and weeding test of the weeding robot were conducted to test the reliability of the control and remote-control system and the effect of obstacle avoidance and weeding operation.The test results show that the remote control of the robot is stable and safe,the trajectory guidance scheme is relatively reliable,and the effect of weeding operations can reach the design index.