智能化农业装备学报（中英文）

小型农田原状土样采集机器人系统研发与测试

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闫全涛 ¹^,²^,³^,⁴ , 李丽霞 ² , 邱权 ¹^,^* , 丛岳 ³

智能化农业装备学报（中英文） | 2024,5(1): 12-22

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智能化农业装备学报（中英文） | 2024 , 5 (1) : 12 -22

小型农田原状土样采集机器人系统研发与测试

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闫全涛¹^,²^,³^,⁴, 李丽霞², 邱权¹^,^*, 丛岳³

作者信息

^1.北京农学院智能科学与工程学院，北京市，100096

^2.昆明理工大学现代农业工程学院，云南昆明，650500

^3.北京市农林科学院智能装备技术研究中心，北京市，100097

^4.江苏丰尚智能科技有限公司，江苏扬州，225100

通讯作者:

^* 邱权，男，1982年生，山东荣成人，博士，教授；研究方向为农业移动机器人环境感知、自主导航与灵巧操作。E-mail：qiuquan0110@ustc.edu

作者简介:

闫全涛，男，1992年生，河南商丘人，硕士，工程师；研究方向为农业移动机器人系统集成。E-mail：1510257922@qq.com

Development and test of a small robotic system for in-field undisturbed soil sampling

Quantao YAN¹^,²^,³^,⁴, Lixia LI², Quan QIU¹^,^*, Yue CONG³

Affiliations

^1.College of Intelligent Science and Engineering, Beijing University of Agriculture, Beijing 100096, China

^2.Faclty of Modern Agricultural Engineering, Kunming University of Science and Technology, Kunming 650500, China

^3.Research Center of Intelligent Equipment, Beijing Academy of Agriculture and Forestry Sciences, Beijing 100097, China

^4.Famsun Co., Ltd., Yangzhou 225100, China

出版时间: 2024-02-15 doi: 10.12398/j.issn.2096-7217.2024.01.002

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摘要

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农业机器人是农业机械领域的研究热点之一。国内外对温室/农田/果园作业（除草、施肥、喷药、采摘等）机器人移动平台的研究已取得初步成果，但对农田土样采集机器人移动平台的研究鲜有出现。在土壤的物理力学特性研究过程中，原状土壤样品的采集是一个重要前提。如果土样的原状度无法保障，后期实验室物理力学测试分析难以得出准确的研究结果。本研究针对这一问题，研发了一台结构紧凑、通过性强、取土质量好、取土效率高的农田土壤采集机器人移动平台，给出了机械系统、控制系统设计方案，并开展了初步的田间试验研究。本研究的主要内容如下：（1）机器人移动平台本体设计方面，确定了差速转向的转向方式；进行了机械系统设计，完成了相关硬件选型分析和控制系统设计以及软件编写。移动平台轴距为960 mm、轮距为600 mm，轮毂电机功率1 000 W，实现了基于调速转把和遥控手柄的移动平台协调运动控制，满足试验要求。（2）土样采集装置方面，对分段原状取土装置进行了设计。通过对比分析选用液压传动作为动力源和直压旋入式入土方式。通过理论分析确定了取土器主要技术参数，并对其入土关键部件进行有限元分析，验证了其结构参数设计的合理性。（3）通过田间试验，考察整机的移动性能和取土质量。移动性能测试试验结果表明：最大垂直越障高度80 mm，最大爬坡坡度35°。土样抗剪强度检测试验结果表明：在获取0~200 mm深度土样时，环刀法和新系统所取土样的内摩擦角方差在0.05的置信水平下，P值等于0.866；在获取0~100 mm和100~200 mm深度土样时，环刀法和取土装置所取土样的凝聚力方差在0.05的置信水平下，P值分别为0.145和0.717。取土效率对比试验结果表明：该取土装置完成一次取土仅需3~5 min。

关键词

农业机器人 / 移动平台 / 农田 / 原状土样 / 取土器

Abstract

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Agricultural robot is one of the hottest topics in the field of agricultural machineries. Domestic and foreign research on robot mobile platforms for greenhouse/farmland/orchard operations (weeding, fertilization, spraying, picking, etc.) has achieved preliminary results, but mobile robotic system for soil sampling is still seldom found in literatures. Undisturbed soil sampling is an important basis for analyzing soil mechanical properties. If the original state of the soil sample cannot be guaranteed, it will be difficult to obtain accurate research results through subsequent laboratory physical and mechanical testing and analysis. To address this issue, we developed a farmland soil collection robot mobile platform with compact structure, strong pass ability, good soil extraction quality, and high soil extraction efficiency, put forward the design scheme of the mechanical system and control system and carried out preliminary field trial research. The main contents of this research are as follows: First, the design of robotic mobile platform was conducted, by determining differential steering mode, fulfilling mechanical design, selecting hardware components, and building control software framework. The wheelbase and track width of the platform were 960 mm and 600 mm, respectively. The power of the in-wheel motor was 1 000 W. The movement of the platform could be controlled through both speed control knob and remote-control handle. Second, an on-board layer soil sampling equipment was developed, which worked in a hydraulic screw-in mode. The main structure parameters of the sampler were determined based on theoretical analysis, which were validated with a finite element analysis software-ANSYS. Third, field tests were also conducted to test the mobility and soil sampling performances of the robot system. The maximum obstacle crossing height and climbing slope of the robot were 80 mm and 35°, respectively. Based on the shear strength testing results of soil samples in depth 0 to 200 mm, we knew that the internal friction angle of the soil samples, which came from the proposed new system, had no significant differences compared to those coming from cutting ring sampling, with a P-value of 0.866 at the confidence level of 0.05. Similarly, for the soil samples in depth 0 to 100 mm and 100 to 200 mm, the variances of soil cohesion from our new system also had no significant differences compared to those from cutting ring sampling, with P-values of 0.145 and 0.717 at the confidence level of 0.05, respectively. The soil extraction efficiency comparison test results showed that the soil extraction device only took 3 to 5 minutes to complete one soil extraction.

Key words

agricultural robot / mobile platform / in-field / undisturbed soil / soil sampler

引用本文

闫全涛, 李丽霞, 邱权, 丛岳. 小型农田原状土样采集机器人系统研发与测试. 智能化农业装备学报（中英文）, 2024 , 5 (1) : 12 -22 . DOI: 10.12398/j.issn.2096-7217.2024.01.002

Quantao YAN, Lixia LI, Quan QIU, Yue CONG. Development and test of a small robotic system for in-field undisturbed soil sampling[J]. Journal of Intelligent Agricultural Mechanization, 2024 , 5 (1) : 12 -22 . DOI: 10.12398/j.issn.2096-7217.2024.01.002

基金

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国家自然科学基金项目(61973040)

参考文献

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参考文献引证文献

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2024年第5卷第1期

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文章信息

doi: 10.12398/j.issn.2096-7217.2024.01.002

接收时间：2023-10-20
首发时间：2026-11-05
出版时间：2024-02-15

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收稿日期：2023-10-20
修回日期：2024-01-04

基金

国家自然科学基金项目(61973040)

作者信息

^1.北京农学院智能科学与工程学院，北京市，100096

^2.昆明理工大学现代农业工程学院，云南昆明，650500

^3.北京市农林科学院智能装备技术研究中心，北京市，100097

^4.江苏丰尚智能科技有限公司，江苏扬州，225100

通讯作者:

^* 邱权，男，1982年生，山东荣成人，博士，教授；研究方向为农业移动机器人环境感知、自主导航与灵巧操作。E-mail：qiuquan0110@ustc.edu

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2种不同金属材料的力学参数

科 Family	属数 Number of genus	种数 Number of species	占总种数比例 Percentage of total species (%)	属 Genus	种数 Number of species	占总种数比例 Percentage of total species (%)
鹅膏菌科Amanitaceae	2	11	5.26	鹅膏菌属 Amanita	10	4.78
小菇科 Mycenaceae	2	12	5.74	丝盖伞属 Inocybe	5	2.39
多孔菌科 Polyporaceae	8	14	6.70	蜡蘑属 Laccaria	5	2.39
红菇科 Russulaceae	3	23	11.00	小皮伞属 Marasmius	6	2.87
				小菇属 Mycena	11	5.26
				光柄菇属 Pluteus	5	2.39
				红菇属 Russula	17	8.13
				栓菌属 Trametes	5	2.39

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