基于运动数学模型的割草装置控制系统研究  

Research on Control System of Mower Based on Mathematical Model of Motion

作　　者：樊炳倩 雷艳玲 杨翠[1] Fan Bingqian;Lei Yanling;Yang Cui(School of Information Technology,Hebei Polytechnic Institute,Shijiazhuang 050091,China;Basic Education Institute,Shijiazhuang Vocational College of Finance&Economics,Shijiazhuang 050061,China)

机构地区：[1]河北工程技术学院信息技术学院,石家庄050091 [2]石家庄财经职业学院基础教育学院,石家庄050061

出　　处：《农机化研究》2021年第10期46-50,共5页Journal of Agricultural Mechanization Research

基　　金：河北省高等学校自然科学研究项目(Z2019079)。

摘　　要：以自动化割草装置为研究对象,分析现阶段割草装置存在的自动化程度不高、运动控制精确度低、无法适应复杂的多种使用环境条件及自动续航能力低等缺陷,提出一种基于运动数学模型建立的自动化割草装置控制系统。在运动数学模型建立的条件下,搭建割草装置对草地的模式识别模型,实现割草过程中的障碍规避;建立运动控制过程数学模型,以机器视觉信号为反馈,形成闭环控制,计算出行进过程中存在的角度偏差,不断调整自动行走姿态;结合机器视觉和运控数学模型,实现割草装置的自动回归控制,并进行自动充电。试验结果表明:割草装置在生长茂密和稀疏两种草地中,能够进行草地的精确识别;在自动行走过程中,控制系统计算出的角度偏差与预先设置的角度偏差几乎相同。由此可为割草装置研究提供理论基础。This paper takes the automatic mowing device as the research object,and analyzes the shortcomings of the current mowing device,such as low degree of automation,low accuracy of motion control,inability to adapt to complex environmental conditions and low ability of automatic endurance.A control system of automatic mower based on the mathematical model of motion is proposed.Under the condition of the establishment of the motion mathematical model,the model recognition ability of the mowing device to the grassland is built to avoid the obstacles in the mowing process.The motion control process mathematical model is established to form the closed-loop control with the machine vision signal as the feedback,calculate the angle deviation in the travel process,and constantly adjust the automatic walking posture.The machine vision and the operation control mathematical model are combined.Type,realize the automatic return control of mowing device,and carry out automatic charging.The experiment shows that the mower can recognize the hardcover pattern in dense and sparse grassland,and the angle deviation calculated by the control system is almost the same as the preset angle deviation in the process of automatic walking.Provide theoretical basis for the next generation of more automatic and intelligent mowing device research.

关 键 词：割草装置 运动数学模型 机器视觉 角度偏差 自动回归 

分 类 号：S817.111[农业科学—畜牧学]