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水稻全田塊無人收獲作業(yè)自動打點系統(tǒng)設(shè)計與試驗
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國家自然科學(xué)基金項目(32271999)、江蘇省重點研發(fā)計劃項目(BE2021313)和江蘇高校優(yōu)勢學(xué)科建設(shè)工程(四期)項目


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

    谷物收獲機械無人化作業(yè)可有效解決收獲季用工短缺問題,,全田塊自動導(dǎo)航作業(yè)是無人收獲機智能化的核心,。為解決水稻無人收獲作業(yè)自動打點問題,基于邊界線跟蹤與地頭區(qū)域檢測實現(xiàn)水稻田塊最外圈導(dǎo)航與剩余作業(yè)區(qū)域自動打點,,并提出一種目標(biāo)區(qū)域先驗形態(tài)輔助的動態(tài)感興趣區(qū)域設(shè)定方法,,改善作物邊界線提取可靠性。采用自控小車對所提方法進行驗證,,試驗結(jié)果表明,,當(dāng)車輛作業(yè)速度為0.8m/s時,水稻未收獲區(qū)域直線邊界跟蹤平均誤差小于5cm,,單幀圖像檢測時間小于50ms,。水稻邊界自動打點試驗結(jié)果表明,所設(shè)計自動打點系統(tǒng)打點平均誤差為3.5cm,,滿足直角梯形水稻田塊自動打點需求,。

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    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,韓逸,朱耀輝,魏新華.水稻全田塊無人收獲作業(yè)自動打點系統(tǒng)設(shè)計與試驗[J].農(nóng)業(yè)機械學(xué)報,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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  • 在線發(fā)布日期: 2024-06-10
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