摘要
为提高农业生产智能化水平和降低人力成本,针对行间作物的特点,设计一套用于农业车辆的视觉导航控制系统。通过固定在农业车辆上的摄像头获取田间作物图像,基于Matlab进行图像处理得出车辆与规划路径的位置和角度偏差。控制器根据上位机得出的前轮目标转角和角度传感器得出的实际转角的偏差值作为输入变量,控制电控液压转向系统保证前轮沿着正确路线在田间行驶。根据田间实验结果,车辆行驶速度为2.08km/h时,前轮转向迅速、平稳,最大误差0.18m,平均误差0.048m。该控制系统快速性和准确性,能够保证农业车辆自主导航。
In order to improve the intelligent level of agricultural production and reduce labor costs,asset of visual navigation control system used for agricultural vehicles was designed,which considered the characteristics of the row crops.We got the images of field crops through a fixed camera on agricultural vehicles,and then get the deviation of position and angle between the vehicle and path planning with Matlab.The target angle of front wheel based on the upper computer and actual angle based on an angles sensor were input into ECU,which ensured the electro-hydraulic steering system kept the front wheel along the correct route.The field experiment results showed that when the speed was 2.08km/h,the front wheel turns quickly and smoothly.And the maximum error was 0.18 m,average error was 0.048 m.The rapidity and veracity of this control system can ensure the autonomous navigation of agricultural vehicle.
出处
《中国农机化学报》
2016年第6期251-254,共4页
Journal of Chinese Agricultural Mechanization
基金
江苏省淮安市科技计划专项资金科技创新平台(HAP201411)
关键词
农业车辆
视觉导航
控制器
电控液压
agricultural vehicle
visual navigation
ECU
electro-hydraulic steering system
