基于 RT-Thread 的玉米对行收获控制系统 研发与测试  

Development and test of control system for corn row harvesting based on RT-Thread

作　　者：郭佳炜 王骞 尚业华 秦五昌 王锋 吕昊暾 Guo Jiawei;Wang Qian;Shang Yehua;Qin Wuchang;Wang Feng;LüHaotun(College of Engineering,China Agricultural University,Beijing,100083,China;Research Center of Intelligent Equipment,Beijing Academy of Agriculture and Forest Science,Beijing,100097,China;State Key Laboratory of Intelligent Agricultural Power Equipment,Beijing,100097,China)

机构地区：[1]中国农业大学工学院,北京市100083 [2]北京市农林科学院智能装备技术研究中心,北京市100097 [3]智能农业动力装备全国重点实验室,北京市100097

出　　处：《中国农机化学报》2024年第11期28-34,共7页Journal of Chinese Agricultural Mechanization

基　　金：国家重点研发计划项目(2021YFD200050302)。

摘　　要：为提高玉米机械化收获效率,减轻驾驶员劳动强度,研发玉米收获对行控制系统。该系统包括玉米边界行感知模块和对行控制模块,采用激光雷达获取玉米行点云数据,提出基于STM32处理器和RT-Thread实时操作系统的点云数据快速分析处理方法,实现玉米行边界点的提取,通过边界点计算得到横向偏差;设计系统通信拓扑架构,实现感知、处理、对行控制模块之间的高效通信。对该系统的性能开展田间试验验证,结果表明:收割机与玉米行实际边界线的平均横向偏差为0.06 m,最大横向偏差为0.126 m,满足玉米对行收获作业要求,为玉米对行收获提供一定的参考。In order to improve the efficiency of mechanized corn harvesting and reduce the labor intensity of drivers,a corn harvesting row control system is developed.This system includes a corn border row sensing module and a row control module,by using laser radar to obtain corn row point cloud data,a rapid analysis and processing method for point cloud data based on STM32 processor and RT-Thread real-time operating system is proposed,which realizes the extraction of corn row boundary points and obtains lateral deviation through boundary point calculation.The system communication topology is designed to achieve efficient communication between sensing,processing,and row control modules.Field experiments were conducted to verify the performance of the system.The results showed that the average lateral deviation between the harvester and the actual boundary line of the corn row was 0.06 m and the maximum lateral deviation was 0.126 m,which met the requirements of corn row to row harvesting operations.The research could provide a certain reference for corn row to row harvesting.

关 键 词：玉米对行收获 控制系统 RT-THREAD 激光雷达 单片机 点云数据 

分 类 号：S225.51[农业科学—农业机械化工程]