基于激光导航设施的收割机自动控制系统研究

针对无人驾驶农机的应用需求,提出了一种应用于无人驾驶农机自主行走的激光扫描路径规划与导航算法。此方法利用激光测距仪获取当前视场内路径、作物及障碍物信息,根据田垄和作物区域的特征检测路径边缘,并生成行驶路径。为了保证导航精度,在控制器上采用了PID反馈调节方式,利用增量式PID控制器对行走方向进行调节,从而使农机可以按照预定的路径行走。以无人驾驶收割机为研究对象,对导航方案进行了测试,结果表明:采用激光导航设置可以成功地规划出行驶路径,使收割机自主的沿着行驶路径行走,实现了无人驾驶收割机的自主导航。

Research on Automatic Control System of Harvester Based on Laser Navigation Facility

To meet the application requirements of unmanned agricultural aircraft,it proposed a laser scanning path planning and navigation algorithm for autonomous walking of unmanned agricultural aircraft.This method uses laser rangefinder to obtain the information of path,crop and obstacle in the current field of view,and detects the edge of path according to the characteristics of ridges and crop areas.In order to ensure the navigation accuracy,it adopted the PID feedback regulation mode in the controller,and the incremental PI controller is used to adjust the walking direction,so that the agricultural machinery can walk along the predetermined path.Finally,taking the unmanned harvester as the research object,it tested the navigation scheme.The test results show that the laser navigation settings can successfully plan the traveling path so that the harvester can walk along the traveling path independently,thus realizing the autonomous navigation of the unmanned harvester.