基于平行轨迹导航的采棉机自动对行控制方法
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国家重点研发计划项目(2022YFD2002402)和山东省重点研发计划项目(2022CXGC020705)


Automatic Row-follow Control Method for Cotton Picker Based on Parallel Trajectory Navigation
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    摘要:

    为解决传统人工操作采棉机长距离对行作业时存在劳动强度大、作业速度受限和效率较低的问题,利用棉花采用卫星导航平行精准播种的特性,提出了一种基于平行轨迹导航的采棉机自动对行控制方法。首先,人工驾驶采棉机完成首行对行作业,记录RTK定位轨迹数据,并进行线性拟合,得到参考导航线斜率;然后,对后续各行收获时,在任意起点对齐待收获的棉花行,由起点坐标和参考斜率计算得到平行导航基准线;最后,采用速度自适应纯追踪算法,实现采棉机自动对行。田间试验表明,该方法能够从任意行起始位置开始自动对行,不同速度下,平均绝对横向偏差为2.91cm,最大绝对横向偏差为9.22cm,平均标准差为1.80cm,控制性能均优于手动对行,满足采棉机对行精度要求。相对机械触碰式自动对行方法,该方法不受缺株歪株影响,并且在较高速7km/h行驶时仍能保持良好的对行精度。

    Abstract:

    To address the problems of high labor intensity, limited operating speed, and low efficiency in long-distance row-follow operation of traditional manually operated cotton pickers, based on the prior characteristics of parallel precision sowing of cotton using satellite navigation, an automatic row-follow control method of cotton picker based on parallel trajectory navigation was proposed. Firstly, the cotton picker was manually driven to complete the first row alignment operation, the RTK positioning trajectory data was recorded, and the linear fitting was carried out to obtain the slope of the reference navigation line. Then, when harvesting the subsequent rows, the cotton rows to be harvested were aligned at any starting point, and the parallel navigation baseline was calculated by the starting point coordinates and the reference slope. Finally, a speed-adaptive pure tracking algorithm was adopted to realize automatic row-follow control of the cotton picker. Field experiments demonstrated that this method could automatically align rows from the starting position of any row. At different speeds, the average absolute lateral deviation was 2.91cm, and the maximum absolute lateral deviation was 9.22cm, and the standard deviation was 1.80cm, which met the requirements of the alignment accuracy of cotton picker. Compared with the mechanical touch-based automatic row-follow methods, this method was not affected by missing or broken plants and maintained good alignment accuracy at high speed of 7km/h.

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何创新,巩蕾,苗中华,韩科立,郝付平,韩增德.基于平行轨迹导航的采棉机自动对行控制方法[J].农业机械学报,2024,55(6):34-41. HE Chuangxin, GONG Lei, MIAO Zhonghua, HAN Keli, HAO Fuping, HAN Zengde. Automatic Row-follow Control Method for Cotton Picker Based on Parallel Trajectory Navigation[J]. Transactions of the Chinese Society for Agricultural Machinery,2024,55(6):34-41.

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  • 收稿日期:2024-01-30
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  • 在线发布日期: 2024-06-10
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