无人拖拉机耕作轨迹智能控制系统的研究

Research on Intelligent Control System for Tillage Trajectory of Unmanned Tractor

拖拉机是农业生产中的重要农业机械之一,是保证农业各项生产作业顺利进行的农机具之一,与其他农机具配合共同完成田间各项作业环节。目前,拖拉机田间工作运行轨迹及路线主要依靠驾驶员进行控制与管理,生产效率较低,耗费大量的人力物力。针对以上问题,提出了一种基于机器视觉的无人拖拉机耕作轨迹智能控制系统,对硬件选型及软件设计进行了系统阐述,对拖拉机耕作环境图像进行处理,最后采用自适应路径跟踪算法实现对无人拖拉机耕作轨迹的自适应跟踪,从而实现轨迹控制。田间试验结果表明:系统能够准确跟踪控制无人拖拉机的耕作轨迹,提高拖拉机作业效率与控制精度。

Tractor is one of the important agricultural machinery in agricultural production,is one of the agricultural machinery to ensure the smooth progress of agricultural production operations,and other agricultural machinery cooperation to complete the field operations.At present,tractor field work trajectory and route travel control mainly rely on the driver to control and manage,agricultural production efficiency is low,consume a lot of human and material resources.In response to the above problems,this study proposes an intelligent control system of agricultural unmanned tractor tillage trajectory based on machine vision,systematically elaborates on the system hardware selection and software design,processes the tractor tillage environment image,and finally adopts adaptive path tracking algorithm to realize adaptive tracking of agricultural unmanned tractor tillage trajectory so as to realize trajectory control.The field test results show that the system designed in this study can accurately track and control the tillage trajectory of agricultural unmanned tractor and improve the tractor operation efficiency and control accuracy.