摘要
为实现果园作业的自动化,以拖拉机为研究对象,采用激光导航方式实现了果园机械的自动导航。试验以激光扫描仪为检测设备对果树位置信息实时采集,采用最小二乘法规划拖拉机导航路径;拖拉机航向偏差和横向偏差作为比例控制器的输入量,以方向盘电机的转速为输出量,控制拖拉机沿导航路径直线行走;系统实现了拖拉机在果园环境下的直线行走控制功能。拖拉机以0.27m/s的速度直线行走30m,最大横向偏差0.15m。试验结果表明本系统可用于果园机械的自动导航,并具有一定的可靠性。
In order to develop an automatic guidance system for orchard machinery,laser navigation method was used on an orchard tractor.A laser scanner was used to collect the real time information of fruit trees＇ location and a path planning program was developed based on the least square method.A proportional controller was designed with the information of course deviation and lateral deviation as its input and the speed of steering motor as output to navigate the tractor moving straightly.The system realized the control function of navigating the tractor to move in a straight line in alleyways of the orchard.The maximum lateral deviation was 0.15 m after the tractor moved 30 m path at the speed of 0.27 m/s.Test results indicated that the system could be applied to the automatic navigation of orchard machinery and had certain reliability.
出处
《农业工程学报》
EI
CAS
CSCD
北大核心
2011年第3期196-199,共4页
Transactions of the Chinese Society of Agricultural Engineering
基金
中央高校基本科研业务费专项资金支持(QN2009041)
关键词
激光应用
导航
自动导航
拖拉机
果园
航向角
横向偏差
拟合路径
laser applications
navigation
automatic guidance
tractors
orchards
heading angle
lateral deviation
fitting path
