农业机械学报2026，Vol.57Issue(12)：34-43,10.DOI:10.6041/j.issn.1000-1298.2026.12.003
旱地株间除草机器人设计与试验
Design and Test of Interplant Weeding Robot in Dryland
摘要
Abstract
Due to the different distribution locations of farmland weeds,the overall can be divided into two categories:inter-row weeds,inter-plant weeding,in which inter-plant weeding is close to the crop,and the weeding operation is intermittent,so the key problem of mechanical weeding is to solve the complexity of inter-plant weeds.In order to solve the problems of poor plant spacing adaptability and high seedling damage rate of interplant mechanical weeding robot,an intelligent interplant weeding robot system was proposed based on visual guidance.The system consisted of a moving chassis,weeding parts,a visual identity system and a control system.Among them,the weeding mechanism adopted non-circular gear planetary gear train transmission,and realized seedling avoidance and weeding through eccentric trajectory planning.Based on the Otsu adaptive threshold segmentation algorithm,the vision system established crop-weed identification and positioning based on area threshold.The system used visual recognition results to control the movement trajectory of the weeding mechanism and the inter-plant operation time.The experiments showed that the robot's average recognition rate reached 93.99%;when the chassis moved at a speed of 0.4 m/s,the weeding rate was not less than 92.23%under different working conditions,with an overall average weeding rate of 93.70%,and the average seedling injury rate was 3.90%.The experimental results verified the adaptability of the robot for weeding between multiple crops.关键词
除草机器人/旱地/移动底盘/作物识别Key words
weeding robot/dry land/mobile chassis/crop recognition分类
农业科技引用本文复制引用
周海丽,马华涛,俞高红,王旭,徐家盛..旱地株间除草机器人设计与试验[J].农业机械学报,2026,57(12):34-43,10.基金项目
国家重点研发计划项目(2022YFD2001800)和国家自然科学基金项目(32201676) （2022YFD2001800）
