农用开放式智能移动平台研制  

Development of Agricultural Opening Intelligent Mobile Platform

作　　者：顾宝兴[1] 姬长英[1] 王海青[1] 田光兆[1] 郑青根[1] 王玲[1] 

机构地区：[1]南京农业大学工学院,南京210031

出　　处：《农业机械学报》2012年第4期173-178,187,共7页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家高技术研究发展计划(863计划)资助项目(2006AA10Z259);中央高校基本科研业务费专项资金资助项目(KYZ201006);南京农业大学青年科技创新基金资助项目(KJ09030)

摘　　要：研制了一种作为农田智能化作业前提和基础的农用履带式智能移动平台。该平台主要包括机械系统和控制系统。移动平台能够实现田间自主导航,且具有一定的开放性,可满足农田多种智能化作业的要求。用VC++6.0编写了自主导航控制程序,开发了人机交互界面。样机在江苏省丰县果园进行了导航实验。结果表明:在组合导航模式下,该智能移动平台自主导航性能稳定,直线路径最大跟踪误差为0.05 m,曲线路径最大跟踪误差为0.11 m。The agricultural intelligent mobile platform is the premise and basis of farmland intelligent operation,so a prototype of agricultural intelligent operation was developed.It was consisted of mechanical system and control system.The mobile platform can navigate autonomously.It showed a certain openness which could meet various requirement of farmland intelligent operations.The autonomous navigation program and human-machine interface were programmed with VC＋＋6.0.The field navigation tests of the prototype were carried out in the orchard of Feng county in Jiangsu province.Results revealed that this platform performed well in the integrated navigation mode and the error was 0.05 m during straight path movement,whereas in curved path the error increased to 0.11 m.

关 键 词：智能移动平台 导航 双目立体视觉 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术] TP242.6[自动化与计算机技术—计算机科学与技术]