基于ROS的智能田间松土机器人设计与实现
Design and Realization of Intelligent Field Loosening Robot Based on ROS

旨在设计与实现一种基于ROS的智能田间松土机器人，以提升农业生产效率和自动化水平。研究首先构建了整体系统架构并设计了机械结构，确保机器人在复杂环境中的稳定性。随后，分析了ROS控制系统的实现，涵盖基本概念、环境搭建、节点设计与通信及控制算法。通过实验，收集并分析了机器人的实际作业表现。结果表明，与传统人工操作相比，该机器人显著提高了松土作业效率，并有效改善了土壤硬度和湿度。研究显示，基于ROS的智能田间松土机器人具有良好的应用前景，为推动农业智能化提供重要参考。
It aims to design and realize an intelligent field loosening robot based on ROS to improve the efficiency and automation of agricultural production. The study firstly constructed the overall system architecture and designed the mechanical structure to ensure the stability of the robot in a complex environment. Subsequently, the implementation of the ROS control system was analyzed, covering basic concepts, environment construction, node design and communication and control algorithms. Through experiments, the actual operational performance of the robot was collected and analyzed. The results showed that the robot significantly improved the efficiency of soil loosening operation and effectively improved the soil hardness and moisture compared with the traditional manual operation. The study shows that the intelligent field loosening robot based on ROS has a good application prospect and provides an important reference for promoting agricultural intelligence.