| The visual navigation of agricultural vehicles is of great significance in improving the speed and efficiency of the field operation and reducing the labor intensity of the operator. This paper to agricultural vehicle vision navigation control system as the research object, electromechanical integration, sensor, fuzzy control theory combined, the main cotton PU film seeding stage, visual navigation of machinery operation control strategy. The main research is as follows:(1) After reading the basis of a large number of relevant literature. Analysis method of automatic guidance of agricultural vehicles, as well as the main control strategy, the status quo at home and abroad, describes the related visual navigation control strategy advantages and disadvantages, is summarized in this paper, the main research focus.(2) Through the study of PU film sowing period of cotton field environment and operation characteristics, build cotton PU membrane planter path image acquisition platform. Through the research on cotton path information, designed by Ni vision analysis of images of the farmland path the during the process of cotton production in the membrane seeder, and through video images were further processed and extracted path information.(3) Through the analysis of the mechanical steering system executive agencies, technical characteristics, determine the visual navigation and steering mechanism of the overall technical scheme and system composition; critical operating parameters, executive system of cockpit space utilization. Visual navigation of the key research field operation vehicle steering control, to the fuzzy control algorithm is employed to establish mathematical model of steering control, the steering angle correction value depends on the actual direction of the agricultural vehicles and deviation preset route, in order to control the vehicle according to the predetermined route travel, ensure the running of the vehicle route and early detection of visual navigation path coincide. The simulation results show that the fuzzy control strategy has a better tracking ability for the signal to turn in the control system signal has good adaptability, can obtain the motion stability and better control.(4) Finally according to agricultural vehicles operating characteristic of visual navigation test control platform, completed the steering system, and installation of sensors, and through the LabVIEW established visual navigation control monitoring system, at the end of the design of vision navigation of agricultural vehicle control system test.The test results show that the test design scheme basically meets the requirements of the test, but there are still some problems need to be solved. At the end of the paper, the design of the system is summarized, and the future research is prospected. |
PDF Full Text Request