视觉导航小型农田作业辅助机器人系统设计与实现

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中图分类号：S224 文献标识码：A 文章编号：2095-5553（2026）04-0177-10

Abstract：Inviewof the problems ofhigh labor intensity，fast physical exhaustionandlow eficiency in manual management of low-lying crops，a smallfarmlandoperation auxiliary robot system was designed and developed with a compact structure，strong passability，a wide range of crops and easy operation.The platform was composed of a Raspberry Pi 4 Model B，an Arduino MEGA 256O，a camera，an ultrasonic sensor and other hardware.A vision-based trajectorytrackingcontrolalgorithmwasadopted torealize theautonomous operationof therobot betwee therows of crops.Combined with the holowdesign in the middle，it was used toasist farmers incompleting thecruise management andharvesting of low-lying crops such as peanuts，potatoes ina siting position.Inorder to test the influence of light factorsonthe trajectory tracking controlalgorithm，multipletrajectorytracking tests wereconductedon the samecrop row at9 am and 3 pm respectively. The results showed that when the vehicle speed was 0.36m/s and the load was 80kg ，the maximum lateral deviation did not exceed 0.229m ，and the average lateral deviation did not exceed 0.0626m ，both of which were less than the maximum lateral adjustment distance of 0.25m .This indicated that the system could maintain path tracking with high stabilityand accuracy in field environments，meeting the actual agricultural needs.

Keywords：visualnavigation；agricultural auxiliary robots；farmland；management andprotectionof low growing crops; path tracking

0 引言

近年来，我国第三产业得到了突飞猛进的发展，大量从事农业生产的农村青壮年劳动力流入城市[12]，导致农村人口老龄化现象加剧、农业从业人员流失，严重制约了我国农业的可持续发展[3.4]。（剩余15152字）