| In the breeding process,plant phenotype information is an important basis for breeding researchers to screen for excellent varieties.Traditionally,manual collection of field phenotypic information is used,which has high work intensity,high cost,and low efficiency,which seriously restricts the speed of germplasm innovation and improvement.There is an urgent need to develop an automated collection platform for plant phenotype information for high-pass crop phenotype information Quantity,automation and rapid detection.This research aims at designing a large-scale automated system for track-type field phenotype detection with high cost,complex structure,high maintenance cost,and poor flexibility.It is difficult for the existing fixed structure mobile phenotype detection robot to adapt to the phenotype detection of crops with different line spacing.The field-oriented high-throughput variable structure crop phenotype detection mobile robot.The main contents of the research include:(1)Design and optimization of robot mechanical structure.First of all,according to the line spacing and crop height of the field soybean cereal crops,a modular design method was used to design a variable structure crop phenotype detection mobile robot.including variable structure,steering,body frame and other modules.optimization.According to the power requirements for robot steering and driving,the steering motor and the driving motor of the robot are respectively optimized.(2)Mobile robot kinematics and posture analysis.First.the D-H method is used to establish the kinematics equations of the robot’s single variable structure and steering device,and the forward and reverse kinematics solutions are calculated.According to the characteristics of the four-wheel omnidirectional drive of the mobile robot,the kinematics of the steering method is carried out.Finally,according to the posture change of the robot when driving on the complex ground in the field,the posture analysis of the end of the driving wheel is carried out,and the expression of the end posture vector of the robot with variable structural parameters is given,which provides a theoretical basis for the control of the robot.(3)Design of mobile robot measurement and control system.Including the design of hardware and software systems,in which the hardware system includes the circuit design of the main controller module,power supply system module,communication module and each drive module.The software system includes the design of the upper computer software and the lower computer software.The upper computer software is based on the MATLAB software platform to develop the robot upper computer measurement and control software to realize robot movement and variable structure control.(4)Research on mobile robot visual navigation.Including the research of depth vision navigation algorithm and image sequence navigation algorithm,in which the depth vision navigation algorithm uses edge detection to identify the crop contour,extract the center point of the crop contour,fit into the navigation straight line,and get the navigation angle.The image sequence navigation algorithm performs feature extraction and matching based on continuous visual images,and obtains the relative movement distance and offset angle of the robot.The image sequence navigation algorithm is used as a supplementary algorithm to finetune the robot’s posture in real time,and the two algorithms are combined to realize the robot’s visual navigation.(5)Variable structure mobile robot test and performance test.The prototype of variable structure phenotype detection mobile robot was developed,and the basic motion performance and visual navigation algorithm of the robot were experimentally verified.The results show that the developed phenotype detection robot has stable structure,the maximum error of visual navigation algorithm is 8.3cm,and the average error is 4.13cm.The rationality of the mobile robot design scheme for variable structure crop phenotype detection was verified. |
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