Pan Jiahui, Xu Lizhang, Lu En, Dai Buwang, Chen Tiaotiao, Sun Weiming, Cui Zhihong, Hu Jinpeng
Agricultural Engineering School, Jiangsu University, Zhenjiang 212013, China.
Sensors (Basel). 2024 Apr 24;24(9):2715. doi: 10.3390/s24092715.
In order to enhance crop harvesting efficiency, an automatic-driving tracked grain vehicle system was designed. Based on the harvester chassis, we designed the mechanical structure of a tracked grain vehicle with a loading capacity of 4.5 m and a grain unloading hydraulic system. Using the BODAS hydraulic controller, we implemented the design of an electronic control system that combines the manual and automatic operation of the chassis walking mechanism and grain unloading mechanism. We utilized a hybrid A* algorithm to plan the traveling path of the tracked grain vehicle, and the path-tracking controller of the tracked grain vehicle was designed by combining fuzzy control and pure pursuit algorithms. Leveraging binocular vision technology and semantic segmentation technology, we designed an automatic grain unloading control system with functions of grain tank recognition and grain unloading regulation control. Finally, we conducted experiments on automatic grain unloading control and automatic navigation control in the field. The results showed that both the precision of the path-tracking control and the automatic unloading system meet the requirements for practical unoccupied operations of the tracked grain vehicle.
为提高农作物收获效率，设计了一种自动驾驶履带式谷物运输车系统。基于收割机底盘，设计了装载量为4.5立方米的履带式谷物运输车机械结构及谷物卸载液压系统。利用博达斯液压控制器，实现了底盘行走机构和谷物卸载机构手动与自动操作相结合的电子控制系统设计。采用混合A*算法规划履带式谷物运输车行驶路径，并结合模糊控制和纯追踪算法设计了履带式谷物运输车路径跟踪控制器。利用双目视觉技术和语义分割技术，设计了具有粮箱识别和卸粮调节控制功能的自动卸粮控制系统。最后，在田间进行了自动卸粮控制和自动导航控制实验。结果表明，路径跟踪控制精度和自动卸载系统均满足履带式谷物运输车实际无人作业要求。
