DEVELOPMENT OF AUTOMATIC ROW-FOLLOWING FIELD MACHINERY

自动跟行田间机械的研制

• 批准号: 08660305
• 负责人: HATA Shun-ich
• 金额: $ 1.6万
• 依托单位: HOKKAIDO UNIVERSITY
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 1996
• 资助国家: 日本
• 起止时间: 1996 至 1997
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-08660305/
• 关键词: row following control; steering control; fuzzy control; crop-row detector; line detection; ファジイ制御

In order to develop an automatic row-following field machinery, Crop-row detector and the methods of automatic steering control have been developed. The results obtained are as follows ;1) The new detecting method was developed. Offset and heading to the crop-row can be detected faster by this method than by ordinary image processing.2) Three types of Crop-row detector were made on trial basis. As results of the field tests, it was concluded that each detector was accurate enough for practical use. Especially, the detector with 2D color image sensor was most practical, because of adaptability to sky and background color conditions, and high flexibility of detecting algorithm. The average detecting error of this detector were (]SY.+-。[)2cm in offset and 0.5 degree in heading detection.3) As a result of experiment on row following control, the buffered steering and the control of offset correction conscious was effective to the curved row. The defects of delayd correction by buffered steering in a strait row and the frequent steering, however, should be improved.4) Improvements in detecting method to be able to detect a curved row and alternation control technique in a strait part and a curved part of crop row would be necessary for adaptation to a various type of crop row.

为了研制一种自动跟行田间作业机械，研制了作物行检测器和自动转向控制方法。主要研究结果如下：1）建立了新的检测方法。该方法比普通图像处理方法能更快地检测出作物行的偏移和航向。2）试制了三种作物行检测器。根据现场试验的结果，得出结论认为，每个探测器都足够准确，可以实际使用。特别是采用二维彩色图像传感器的探测器，由于对天空和背景颜色条件的适应性以及探测算法的高度灵活性，最具实用性。该检测器的平均检测误差为（±）SY. [)2cm 3）行跟踪控制实验结果表明，缓冲转向和有意识的偏移校正控制对曲线行是有效的。4）改进弯行检测方法，提高弯行检测能力，采用弯行与弯行交替控制技术，以适应不同类型的作物行。