摘要
为提高谷物联合收获机的对行质量,设计了一套谷物联合收获机自动对行控制系统,主要包括自动对行感知系统和路径跟踪控制系统。自动对行感知系统基于多种传感器,包括摄像头、激光雷达和惯性测量单元等,实现了对农田的实时感知和行间距的测量;路径跟踪控制系统通过计算机器相对于理想路径的偏差,并结合速度和转向控制,实现了机器自动调整行驶方向和速度,以保持在行中心。测试结果表明:系统可以稳定、准确地控制机器的对行,显著提高了收割效率和农作物的质量,降低了驾驶员的劳动强度。
In order to improve the row alignment quality of grain combine harvester,this study designs a set of automatic row alignment control system for grain combine harvester,which mainly includes automatic row alignment sensing system and path tracking control system.The automatic row alignment sensing system is based on various sensors,including camera,LIDAR and inertial measurement unit,to realize real-time sensing of farmland and measurement of row spacing;the path tracking control system realizes the automatic adjustment of driving direction and speed of the machine to stay in the center of the row by calculating the deviation of the machine relative to the ideal path and combining with speed and steering control.The test results show that the system can steadily and accurately control the alignment of the machine,significantly improving harvesting efficiency and crop quality,while reducing the labor intensity of the driver.
作者
唐先光
唐宇峰
Tang Xianguang;Tang Yufeng(Urban Vocational College of Sichuan,Chengdu 610101,China;Sichuan University of Science&Engineering,Yi bin 644000,China)
出处
《农机化研究》
北大核心
2024年第7期224-226,240,共4页
Journal of Agricultural Mechanization Research
基金
过程控制与装备工程四川省高校重点实验室开放基金项目(GK202207)。
关键词
谷物收获机
自动对行系统
感知系统
路径跟踪控制
grain harvester
automatic row alignment system
sensing system
path tracking control
