摘要
针对甘蓝收获转运过程中存在的劳动强度大、作业效率低等问题,设计了一款轨距可调的电动转运平台。为进一步提升平台的自动化、智能化作业水平,基于机器视觉技术进行了平台视觉导航系统和控制系统的设计。该平台的控制系统以STM32F4单片机为核心,用于接收视觉模块拟合的导航线,使用PID控制算法,结合相机内部参数标定和陀螺仪辅助矫正,驱动双路直流减速电机控制平台作业,通过融合视觉算法与路径跟踪控制技术实现了平台的自主导航,可为农业装备的自动控制与智能驱动提供技术支持。
A track-gauge-adjustable electric transport platform has been designed to address the issues of high labor intensity and low operational efficiency in cabbage harvesting and transportation.To further enhance the level of automation and intelligence of the platform,a visual navigation system and control system were designed based on machine vision technology.The control system of this platform is based on the STM32 microcontroller core,which is used to receive navigation lines fitted by the visual module.It uses a PID control algorithm,combined with camera internal parameter calibration and gyroscope assisted correction,to drive dual DC deceleration motors to control the platform operation.Through the integration of visual algorithms and path tracking control technology,the platform achieves autonomous navigation and provides technical support for automatic control and intelligent driving of agricultural equipment.
作者
伍硕祥
王博
李旭
邬备
季邦
符志勇
刘大为
WU Shuoxiang;WANG Bo;LI Xu;WU Bei;JI Bang;FU Zhiyong;LIU Dawei(College of Information and Intelligence,Hunan Agricultural University,Changsha,Hunan 410128,China;Hunan Key Laboratory of Intelligent Agricultural Machinery Equipment,Changsha,Hunan 410128,China;Zoomlion Heavy Technology Co.,Ltd,Changsha,Hunan 410013,China)
出处
《农业工程与装备》
2024年第5期10-14,共5页
AGRICULTURAL ENGINEERING AND EQUIPMENT
基金
国家重点研发计划项目(2021YFD1600300-4/06、2020YF D1000300)。
关键词
甘蓝
电动转运平台
视觉导航系统
路径跟踪技术
智能控制
cabbage
electric transfer platform
visual navigation system
path tracking technology
intelligent control
