丘陵山地果园行间运输车自动跟随系统研究

Research on automatic following system of inter‑row transporter in hilly and mountainous orchards

针对当前丘陵山地地区果园机械智能化程度低、采摘和运输过程效率低的问题,设计一种基于自研履带式运输车的自动跟随方法,采用基于AOA(入射方向角)的定位原理,利用UWB双基站定位技术,由两基站接收电子标签信号,获得其方向角。并通过扩展卡尔曼滤波法计算出电子标签的准确位置,实现运输车对标签的精确定位跟随。在MATLAB中仿真分析,结果表明扩展卡尔曼滤波-AOA定位法平均距离误差为0.21 m,平均角度误差为1.45°。在平地和丘陵果园两种工况下做试验验证,结果表明:两种工况下平均距离误差均小于30 cm,证明该方法满足自动跟随需求。

Aiming at the problems of low degree of mechanical intelligence and low efficiency of picking and transportation process in hilly and mountainous areas,this paper designs an automatic following method based on self‑developed crawler transporter,adopts the positioning principle based on AOA(angle of incidence),and uses UWB dual base station positioning technology to receive the electronic tag signal and obtain its direction angle.And by extending the Kalman filter method,the accurate position of the electronic tag is calculated to realize the precise positioning and following of the tag by the transport vehicle.In the simulation analysis in MATLAB,it is concluded that the average distance error of the extended Kalman filter-AOA positioning method is 0.21 m and the average angle error is 1.45°.The results show that the average distance error is less than 30 cm under the two working conditions of flat land and hilly orchard,which proves that the proposed method meets the requirements of automatic following.