水稻全田块无人收获作业自动打点系统设计与试验
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国家自然科学基金项目(32271999)、江苏省重点研发计划项目(BE2021313)和江苏高校优势学科建设工程(四期)项目


Design and Test of Automatic Dotting System for Whole-field Unmanned Rice Harvesting Operation
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    摘要:

    谷物收获机械无人化作业可有效解决收获季用工短缺问题,全田块自动导航作业是无人收获机智能化的核心。为解决水稻无人收获作业自动打点问题,基于边界线跟踪与地头区域检测实现水稻田块最外圈导航与剩余作业区域自动打点,并提出一种目标区域先验形态辅助的动态感兴趣区域设定方法,改善作物边界线提取可靠性。采用自控小车对所提方法进行验证,试验结果表明,当车辆作业速度为0.8m/s时,水稻未收获区域直线边界跟踪平均误差小于5cm,单帧图像检测时间小于50ms。水稻边界自动打点试验结果表明,所设计自动打点系统打点平均误差为3.5cm,满足直角梯形水稻田块自动打点需求。

    Abstract:

    Unmanned operation of grain harvesting machinery can address the issue of labour shortage effectively during the harvesting season. The whole-field automatic navigation is a significant indicator of intelligent unmanned harvester. To address the issue of automatic dotting for unmanned rice harvesting, the automatic navigation of the outermost circle of the rice field was realized based on cut boundary fitting and headland region detection. The trajectory of rice harvester was recorded by using Beidou real-time kinematic (RTK) while working in the outermost circle of the paddy field, which enabled automatic dotting for the remaining operation region (ROR). A dynamic region of interest was constructed by employing the priori morphology knowledge of the target area, which not only improved the robustness of cut boundary fitting but also reduced its computational complexity. Once the rice harvester entered the headland region, the uncut boundary in the front of the machinery was extracted and the intersection point between two uncut boundary lines was fixed. Finally, the position of the vertex corresponding to the ROR was calculated based on the antenna position and operating width. The proposed method was verified based on an automated trolley, and results indicated that the average straight line tracking error was 4.1cm, and the maximum tracking error was 6.3cm at speed of 0.8m/s. The processing time for single image was less than 50ms. The average error of automatic dotting was 3.5cm, and it can realize automatic dotting of rice field of right-angled trapezoid. It can be concluded that the designed automatic dotting system satisfied the needing of whole-field unmanned operation of rice harvester.

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崔冰波,杜卓文,韩逸,朱耀辉,魏新华.水稻全田块无人收获作业自动打点系统设计与试验[J].农业机械学报,2024,55(6):60-67,79. CUI Bingbo, DU Zhuowen, HAN Yi, ZHU Yaohui, WEI Xinhua. Design and Test of Automatic Dotting System for Whole-field Unmanned Rice Harvesting Operation[J]. Transactions of the Chinese Society for Agricultural Machinery,2024,55(6):60-67,79.

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  • 收稿日期:2024-03-22
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  • 在线发布日期: 2024-06-10
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