横移对行控制系统设计与试验分析  

Design and experimental analysis of side-shift row-follow control system

作　　者：张俊雄[1] 王凯[1] 张良[1] 孙哲[1] 张春龙[1] 

机构地区：[1]中国农业大学工学院,北京100083

出　　处：《江苏大学学报（自然科学版）》2017年第4期423-427,共5页Journal of Jiangsu University：Natural Science Edition

基　　金：国家自然科学基金资助项目(31301232);国家科技支撑计划项目(2015BAD23B02);高等学校博士点专项科研基金资助项目(20130008120020)

摘　　要：为提高大田农用机械作业速度、精准作业能力和行跟随控制系统模块化,基于视觉和液压伺服控制技术,研发了可以搭载不同机具的横移对行控制系统并进行了试验.横移对行装置由上位机实时采集作物行视觉信息并处理发送给下位机,由下位机核心处理器MC9S12DG128单片机精确控制液压系统驱动对行机构的横移对行,既减少了拖拉机频繁转向操作和对作物垄的破坏,又降低了作业农机具对作物的损伤.利用直线位移传感器采集横移机构中动子相对于定子的位置信息,并实时显示于显示器上,指导驾驶员调整拖拉机转向.试验表明,在拖拉机前进速度为0.58,1.22和2.19 km·h-1时,与未使用对行装置时相比,对行准确率分别提高了27.9%,29.1%和31.7%.To enhance the speed of agricultural machinery operation and the ability of precision operation and realize row-follow control system, the side-shift row-follow system was developed based on machine vision and hydraulic servo control technology. The developed device could carry different machines to complete different functions. In the whole process, the visual information of crop rows was collected by a PC in real time and transmitted to a slave computer. Based on the information, the core of lower computer processor MC9S12DG128 controlled the movement of device precisely, and the vehicle speed was collected in real time to realize line precision. Not only the tractor steering operation and the frequency on crop ridge damage were reduced, but also the damage to crops was reduced to ensure the normal growth of crops. The mechanism position information was displayed on a monitor to guide drivers to track on rows. The test results show that compared with that without line device, when the speeds of tractor are 0. 58, 1.22, 2. 19 km·h^-1, the accuracies of row-follow with line device are increased by 27.9%, 29. 1%, 31.7% ,respectively.

关 键 词：横移对行 机器视觉 液压伺服 机器人技术 精准作业 

分 类 号：S224.1[农业科学—农业机械化工程] TP242.3[农业科学—农业工程]