基于多维感知的玉米大田巡检平台设计与试验  

Design and Experiment of Maize Field Inspection Platform Based on Multi-dimensional Perception

作　　者：班超 董乃希 黄修炼 马悦琦 姜龙腾 迟瑞娟[1] BAN Chao;DONG Naixi;HUANG Xiulian;MA Yueqi;JIANG Longteng;CHI Ruijuan(College of Engineering,China Agricultural University,Beijing 100083,China)

机构地区：[1]中国农业大学工学院,北京100083

出　　处：《农业机械学报》2023年第9期44-52,73,共10页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金项目(52172396)。

摘　　要：为了提高对大田种植玉米生长动态、干旱胁迫和病虫害等方面的智能巡检监测能力,设计了一种基于多维感知的移动巡检平台。首先,对底盘总成的转向系统、驱动系统和控制系统进行设计,并基于Arduino UNO控制器实现了巡检平台的转向及行驶功能。其次,搭建了包括GNSS/INS(Global navigation satellite system/inertial navigation system)组合导航系统、激光雷达(Light detection and ranging, LiDAR)和工业相机的多维感知系统,对感知系统时间同步方案、数据通信结构和信息采集软件进行设计,实现了巡检平台对环境的感知和数据可视化。最后,在玉米大田对巡检平台进行了底盘行驶性能试验和感知系统环境感知试验。试验结果表明:巡检平台左转平均最小转弯半径为2 922 mm,右转平均最小转弯半径为2 736 mm,最大爬坡度大于26.7%,位置PID控制下直线行驶平均速度为0.523 m/s,与期望速度0.5 m/s的误差为4.6%,行驶15 m平均偏移量为0.636 m,平均偏移率为4.24 cm/m,满足田间行驶性能要求;感知系统能够在ROS系统下稳定采集平台位姿信息、高精度三维点云信息和彩色二维图像信息,实现了巡检平台对玉米大田环境的多维感知。A mobile inspection platform based on multi-dimensional perception was developed to enable intelligent inspection and monitoring of maize growth dynamics,drought stress and diseases in wide fields.Firstly,the chassis assembly's steering system,drive system,and control system were developed,and the steering and driving functions of the inspection platform were implemented,using the Arduino UNO controller.Secondly,a multi-dimensional sensing system that consisted of a global navigation satellite system/inertial navigation system(GNSS/INS)integrated navigation system,light detection and ranging(LiDAR)and camera was constructed.The time synchronization scheme,data communication structure and information acquisition software of the sensing system were then designed to enable the patrol platform to perceive its environment and visualize.Finally,the chassis driving performance test and the perception system environment perception test were performed on the inspection platform in the maize field.According to the test results,the inspection platform's average minimum turning radius for left turns was 2922 mm,its average minimum turning radius for right turns was 2736 mm,and its maximum climbing gradient was greater than 26.7%,the average straight-line speed under position PID control was 0.523 m/s,with an error of 4.6%compared with the expected speed of 0.5 m/s,the average deviation for 15 m driving was 0.636 m,and the average deviation rate was 4.24 cm/m,all of which met the field driving performance requirements.Under the ROS system,the sensing system was capable of reliably gathering platform position information,high-precision 3D point cloud information,and color 2D image information,enabling the inspection platform to perceive the surroundings in many dimensions.The research result can be used to guide the intelligent creation of a maize field inspection platform.

关 键 词：巡检平台 多维感知 玉米大田 点云地图 

分 类 号：S224.4[农业科学—农业机械化工程] TP242.6[农业科学—农业工程]