自研移动浇水机器人，能自动识别植物并精准灌溉。
Autonomous Mobile Plant Watering Robot : A Kinematic Approach
- 采用6自由度机械臂+四轮驱动底盘，可插入土壤传感器测湿度。
- 通过YOLOv5实时识别植物，结合激光雷达实现自主避障与路径规划。
- 提供完整运动学模型与仿真实验，支持无人值守连续作业。
植物需要定期且适量的浇水才能茁壮成长。尽管已有农业喷灌机器人，但普遍存在成本高、机动性差或功能单一的问题。本文提出一种新型自主移动式植物浇水机器人，配备6自由度机械臂与四轮驱动合金底盘，可持握水管、识别检测植物，并通过插入土壤湿度传感器实现精准定量灌溉。系统采用Jetson Nano与Arduino微控制器，结合RealSense相机，基于Pl@ntNet-300K数据集使用实时YOLOv5进行植物识别。利用激光雷达实现障碍物检测与避障，无需预设路径，可自主追踪已灌溉植物。论文提供了D-H参数表、正逆运动学解算、差速驱动运动学模型，并展示了仿真与实验结果。
原文摘要 · Abstract (English)
Plants need regular and the appropriate amount of watering to thrive and survive. While agricultural robots exist that can spray water on plants and crops such as the , they are expensive and have limited mobility and/or functionality. We introduce a novel autonomous mobile plant watering robot that uses a 6 degree of freedom (DOF) manipulator, connected to a 4 wheel drive alloy chassis, to be able to hold a garden hose, recognize and detect plants, and to water them with the appropriate amount of water by being able to insert a soil humidity/moisture sensor into the soil. The robot uses Jetson Nano and Arduino microcontroller and real sense camera to perform computer vision to detect plants using real-time YOLOv5 with the Pl@ntNet-300K dataset. The robot uses LIDAR for object and collision avoideance and does not need to move on a pre-defined path and can keep track of which plants it has watered. We provide the Denavit-Hartenberg (DH) Table, forward kinematics, differential driving kinematics, and inverse kinematics along with simulation and experiment results
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