农业拖拉机田间避障安全系统设计  

Design of a Safety System for Obstacle Avoidance in Agricultural Tractors in the Field

作　　者：车兴龙 CHE Xinglong(Longxi County Vocational and Technical School,Agricultural and Mechanical Branch Campus,Longxi 748000,China)

机构地区：[1]陇西县职业技术学校农机分校,甘肃陇西748000

出　　处：《农机使用与维修》2024年第7期84-86,共3页Agricultural Machinery Using & Maintenance

摘　　要：该文基于毫米波雷达和摄像头的农业拖拉机田间避障安全系统的设计与实现,通过搭建拖拉机感知环境,对硬件设备毫米波雷达和摄像头进行选型,并设计了专用的数据采集软件,以实现对田间环境的实时感知和数据采集,系统阐述毫米波雷达在田间信号发射与接收机制,并提出了一种针对田间障碍物目标的聚类分析方法,结合多目标跟踪算法,系统实现了拖拉机在田间的自主避障功能。通过融合毫米波雷达和摄像头的信息,该系统能够准确识别田间障碍物,并利用多目标跟踪算法实现对障碍物的跟踪和避让,从而提高了拖拉机的安全性和作业效率,为农业生产提供了可靠的技术支持。In this paper,the design and realization of agricultural tractor field obstacle avoidance safety system based on millimeter-wave radar and camera,by building the tractor sensing environment,selecting the hardware equipment millimeter-wave radar and camera,and designing the special data acquisition software to realize the real-time sensing of the field environment and data acquisition,systematically elaborating the millimeter-wave radar signal transmitting and receiving mechanism in the field,and proposing a kind of targeting field A clustering analysis method for obstacle targets is proposed,and combined with the multi-target tracking algorithm,the system realizes the autonomous obstacle avoidance function of the tractor in the field.By fusing the information from millimeter-wave radar and camera,the system is able to accurately identify the obstacles in the field,and use the multi-target tracking algorithm to realize the tracking and avoidance of obstacles,which improves the safety and operational efficiency of the tractor,and provides reliable technical support for agricultural production.

关 键 词：农业拖拉机 避障安全系统 自主识别 毫米波雷达 多目标算法 

分 类 号：S224.15[农业科学—农业机械化工程]