共查询到20条相似文献，搜索用时 31 毫秒
1.
Vision Guided Precision Cultivation 总被引：1，自引：0，他引：1
A color machine vision based automatic guidance system was developed for precision guidance of an agricultural cultivator. The guidance system was designed to operate in weedy row crop fields at the time of first cultivation. The performance of the system varied from an RMS guidance error of 7 mm under low weed loads to 12 mm under high weed loads and was capable of operating at travel speeds up to 16 km/h. 相似文献
2.
A microcontroller based automatic wheel slip control system was designed and developed for 2WD tractors. The system continuously measures wheel slip under field conditions and generates commands for depth adjustment if the wheel slip falls outside the desired range. Wheel slip was calculated using the actual and theoretical speeds of the tractor obtained by measuring the rotational speed (rpm) of front and rear wheels, respectively. The developed system was installed on a test tractor and the performance was evaluated with different implements under varying field conditions. The performance data indicated a significant reduction in fuel consumption per hectare (20–30%), increase in field capacity (7–38%), and gain in tractive efficiency (4–10%) with slip control system versus the existing draft control system. The slip control system is also expected to reduce the operator’s effort as it adjusts the depth control lever automatically in response to variation in the soil conditions within the field. 相似文献
3.
针对现有稻麦联合收获机割台高度自动调节系统存在传感器受环境干扰大、安装复杂和成本高等问题，提出一种基于车身倾角和割台倾角的割台高度间接测量方法，建立了相关的数学模型，并在此基础上研制一种基于倾角传感器的割台高度自适应调节系统。通过数学模型验证试验对比计算割台高度与实测割台高度以验证数学模型的准确性，并采用割台高度控制精度试验、系统响应速度试验和模拟田间过障试验验证基于倾角传感器的割台高度自适应调节系统的控制效果。结果表明:1)计算割台高度与实测割台高度变化曲线相关性系数为0.97，验证了数学模型的准确性；2)割台高度控制最大误差为18 mm；3)割台平均上升速度为0.22 m/s，下降速度0.17 m/s；4)在模拟田间过障试验中，相同过障条件下，开启该系统可将割台高度稳定性变异系数由未开启该系统条件下的10.77%降低为2.79%，鲁棒性好。本系统满足联合收获机的作业需求，适用于有小障碍物且较为平整的作业环境，可实现低成本、实时的自适应调节且安装方便。 相似文献
4.
T. Coen A. Vanrenterghem W. Saeys J. De Baerdemaeker 《Computers and Electronics in Agriculture》2008,63(1):57-robotics
This paper describes the design of a robust automatic guidance system for a combine harvester. The automatic steering system controls the harvester based on the measured position of the swath on the field. The swath is detected using a laser scanner. The translation and rotation of the machine are taken into account to recalculate the swath's relative position every time step. With the help of a model of the harvester (derived in this paper), the desired wheel position is calculated in function of the desired bearing change. The desired wheel position is then transmitted over the CAN network of the harvester to the actuator. 相似文献
5.
目的 开发基于星基增强精密单点定位的农机自动导航系统。方法 以国产雷沃TX1204拖拉机为平台,采用国产星基增强定位板卡的输出数据作为农机位置反馈量,设计位速卡尔曼滤波器对定位数据进行滤波处理,开发预瞄跟随PID路径跟踪控制算法进行导航控制,整定不同行驶速度条件下的模型控制参数,采用地基增强RTK高精度定位接收机输出数据作为参考量,搭建农机自动导航测试系统并开展系统性能测试。结果 在直线跟踪误差方面,所开发的农机自动导航系统平均误差为?0.0009436 m,标准差为0.02452 m,最大误差绝对值为0.08472 m;在邻接行误差方面,平均误差为0.0007128 m,标准差为0.02986 m,最大误差绝对值为0.15444 m。这一精度可满足大部分农机自动导航作业需求。结论 将国产星基增强精密单点定位技术用于农机自动导航是可行的;本文设计的预瞄跟随PID路径跟踪控制模型和提出的不同速度条件下PID参数与前视距离的整定方法,提高了系统对不同速度的自适应能力。 相似文献
6.
为解决饲用苎麻收获机工作中纤维缠绕切碎系统以及喂料不均匀导致标准草长率达不到国家标准的问题,设计了一种喂料间隙自适应的饲用苎麻收获机切碎系统,由喂入压辊部件和切碎部件组成。该切碎系统的喂入压辊部件采用浮动压辊实现喂料间隙随喂入量变化自适应调节,饲用苎麻在喂入压辊部件的夹持推送作用下,由高速旋转的平板型滚刀式切碎器（动刀）切碎。分析得到了影响标准草长率的主要因素有喂入压辊转速、切碎器转速、动定刀间隙。试制了切碎系统性能考核试验台并进行了多因素二次旋转正交组合试验。结果表明,切碎系统的最优工作参数组合为喂入压辊转速 159.16 r·min-1、切碎器转速 848.11 r·min-1、动定刀间隙 0.65 mm。优化模型与验证试验所得的标准草长率分别为 93.18%、92.96%,二者的相对偏差为 0.24%,满足饲用苎麻收获机作业要求。 相似文献
7.
为解决饲用苎麻收获机工作中纤维缠绕切碎系统以及喂料不均匀导致标准草长率达不到国家标准的问题,设计了一种喂料间隙自适应的饲用苎麻收获机切碎系统,由喂入压辊部件和切碎部件组成。该切碎系统的喂入压辊部件采用浮动压辊实现喂料间隙随喂入量变化自适应调节,饲用苎麻在喂入压辊部件的夹持推送作用下,由高速旋转的平板型滚刀式切碎器（动刀）切碎。分析得到了影响标准草长率的主要因素有喂入压辊转速、切碎器转速、动定刀间隙。试制了切碎系统性能考核试验台并进行了多因素二次旋转正交组合试验。结果表明,切碎系统的最优工作参数组合为喂入压辊转速 159.16 r·min-1、切碎器转速 848.11 r·min-1、动定刀间隙 0.65 mm。优化模型与验证试验所得的标准草长率分别为 93.18%、92.96%,二者的相对偏差为 0.24%,满足饲用苎麻收获机作业要求。 相似文献
8.
Fábio Henrique Rojo Baio 《Precision Agriculture》2012,13(1):141-147
Precision farming tools such as auto-guidance systems assembled on tractors and/or sugar cane harvester machines are being
applied to decrease the costs involved with ethanol production. The purpose of this study was to evaluate the accuracy, the
cane loss and the operational field efficiency achieved by an auto-guidance system used to guide a sugar cane harvester over
the field when compared to a manually-guided machine. The field test was conducted with two treatments: auto-guidance versus
manual guidance; and day versus night. Each treatment was replicated four times. Each position recorded represented a single
sample, which was used to calculate the error between the planned and actual paths. It was concluded that the use of an auto-guidance
system operating on a sugar cane harvester during the day and night periods increased the field pass-to-pass accuracy relative
to the planned row track, but it is essential that the crop was planted using the system. The use of the auto-guidance system
did not significantly decrease the sugar cane loss, once the crop was well cultivated. More long-term research needs to be
done related to this issue. The operational field efficiency of the cane harvester was the same for both auto-guidance and
manual steering systems. 相似文献
9.
Combine Harvester Control Using Real Time Kinematic GPS 总被引：3，自引：0，他引：3
An accurate vehicle guidance system is required for some precision agriculture operations. It can be used for high speed direct seeding on a farm tractor. Such a system also ensures neither overlapping nor missing areas during the harvest, even when visibility is poor. But, automatic path following in the field is a difficult problem. Many vehicle guidance systems have been studied. Some use two dimensional (2D) information, while others are based upon 3D information. Most of the sensors use output information relative to their environment without absolute reference of the path. As the new reference is based on the previous pass, one of the main problems encountered with the edge following systems is an increase in the amplitude of oscillations due to guidance errors in successive passes. Thus, human operators frequently and periodically sacrifice efficiency in one pass to straighten out the edge of the worked area. Another kind of sensor, centimeter accuracy Real-Time Kinematic based Global Positioning System (GPS) receivers, can be used. The advent of accurate systems, with a standard deviation from the mean of about 10 mm, allows the design and implementation of absolute vehicle guidance systems. A few approaches to GPS-based control systems also include attitude measurement sensors such as fiber optic gyroscope. The preliminary work presented in this paper was aimed at validating the use of a GPS receiver in a vehicle guidance system, without any orientation sensor. We have designed a controller to perform a line-following task. Real-time experiments have been carried out on a combine harvester. 相似文献
10.
豫东平原农业智能化气象灾害预警与防御系统在实现了农业智能化的同时,根据豫东地区地理、气候和农业生产现状,在农业自动化灌排系统的基础上整合了农业气象监测服务系统、天气预报预警灾害防御系统,该系统可以根据气象预报预警信息自动、及时做出农事生产建议,能够自动根据土壤墒情、农作物生长状况进行灌溉、排水等。在不同地区,可以根据需要选用不同类型和功能的气象自动站,因地制宜,方便地进行农业、林业、园艺及灌溉等气象要素的监测,实现耕地园田化、灌排系统化、管理科学化、运行良性化、信息网络化、服务社会化,达到经济、社会、生态三大效益的统一。 相似文献
11.
[目的]完成农产品加工包装、运输仓储、销售等环节相关信息的自动采集与处理,克服常见农产品溯源系统缺点,以保障农产品的质量安全,实现从农场到餐桌的农产品信息溯源.[方法]基于手机安卓系统设计并开发客户端,采用安卓系统的应用程序接口(Application programming interface,API)实现近场通讯(Near field communica-tion,NFC)标签的读写,采用android-async-http作为网络请求框架、universal-image-loader作为图片显示框架,Gson作为Json数据序列化和反序列化框架,采用基于位置的服务(Location base service,LBS)实现物流定位和轨迹跟踪;服务器端运用Java Web技术,采用JFinal作为开发框架.[结果]基于NFC开发的农产品移动溯源系统具有用户管理、溯源码读写、打包码绑定、车辆信息录入、仓储信息采集、物流路径跟踪和溯源信息查询等功能,方便涉农企业和仓储人员便捷、快速、高效录入农产品在加工包装、仓储运输及销售等环节的溯源信息,消费者也能够使用具有NFC功能的手机对农产品信息进行查询.[结论]基于NFC的农产品移动溯源系统能够很好地满足涉农企业和公众对农产品信息溯源的需求. 相似文献
12.
自动引导车作业平台是研究自动引导车的基础,自动导航控制技术是自引车移动作业平台的重要技术之一.为了开展自引车移动作业平台及其导航控制技术研究,将计算机技术,传感器技术和数据通讯技术等集成与融合,研制了一种以蓄电池为电源,步进电机为动力的自动引导车作业平台.在平台的基础上开发了视觉导航控制系统,论述了视觉导航控制系统的工作原理、控制方法.试验结果表明,该平台能按预定的路线行走. 相似文献
13.
大蒜联合收获机田间作业性能测试 总被引：1，自引：0，他引：1
针对自行开发研制的自走式大蒜联合收获机进行田间作业性能试验,测试在不同作业条件下其扶禾装置及对齐切秧装置的作业效果。并通过对不同作业速度时该机的损失率、伤蒜率、清土率、生产率等主要性能指标的测试,考核该机的田间作业性能,分析影响其作业性能的主要原因及解决办法,为机具的进一步优化设计与改进提供参考。 相似文献
14.
The ability to map profit across a cotton field would enable producers to determine where money is being made or lost on their farms and to implement precise field management practices to facilitate the highest return possible on each portion of a field. Mapping profit requires knowledge of site-specific costs and revenues, including yield and price. Price varies site-specifically because fiber quality varies, so mapping fiber quality is an important component of profit mapping. To map fiber quality, the harvest location of individual cotton bales must be known, and thus a system to track the harvest location of cotton modules must be available. To this end, a wireless module-tracking system was recently developed, but automation of the system is required before it will find practical use on the farm. In Part 1 of this report, research to develop automatic triggering of wireless messages is described. In Part 2, research to enable the system to function with multiple harvesting machines of the same type in the same field - a common situation in commercial cotton farming - is described along with testing of the entire automated wireless module-tracking system. To automate wireless-message triggering, a sensing and control system was added to a harvester to indicate when the machine is dumping a basket load of cotton so that wireless messages can be automatically sent from the harvester to subsequent field machines. This automated system was incorporated into the existing wireless module-tracking system, field tested, and it ultimately operated as designed, without human intervention. Linking data collected with this system together with cotton classing data enabled the creation of fiber-quality maps. 相似文献
15.
基于无线传感器网络的农田信息采集系统的研究 总被引：3，自引：1，他引：3
针对农田种植区域广、数据采集量大、信息实时传输难的特点,设计了基于无线传感器网络的农田信息采集系统,构建了一个切实可行的农田信息无线传感网络系统,解决了节点定位、路由协议应用等问题.该系统能够在实际生产过程中减少人力操作和人工测量的误差,降低农业生产的成本,并可以最大程度地实现农田信息自动精确的实时采集、汇聚和传输,农... 相似文献
16.
研制了农业物料力学试验装置及其测控系统.该系统可用于农业物料力-变形、蠕变及松弛试验.由位移、力等传感器、数据采集卡、开关量输入输出卡和计算机组成试验过程控制及数据采集系统.应用结果表明该系统工作可靠,操作简便,实现了数据采集及试验过程的控制自动化. 相似文献
17.
农用轮式机器人间接型专家控制系统研究 总被引：1，自引：0，他引：1
为了适应农用机器人的工作环境复杂多变,研究了一种用于自动导航路径跟踪控制的间接型专家控制算法,根据不同的控制策略、转向方式建立了专家控制的控制算法库,对农用机器人路径跟踪和转向进行控制。针对农用机器人沿作物行行走建立了精确的数学模型,同时采用相适应的转向方式并依最优控制律对农用机器人进行控制;针对田间地头转向时转角较大、对转向灵活性要求较高,采用四轮转向方式设计了模糊控制算法。专家控制器根据具体的路径状况,调用不同的控制算法。通过仿真验证,该专家控制算法能满足农用机器人导航时的路径跟踪控制的精度要求。 相似文献
18.
木薯茎叶具有重要的青贮饲料价值，为了解决目前木薯茎叶青贮饲料机械化收获水平低问题，针对4JMG-190型自走式木薯茎叶青贮饲料收获机的田间作业性能进行研究。采用二元二次回归正交旋转组合设计方法，建立了圆盘割刀转速和前进速度与损失率和破头率的回归方程，方差分析结果表明圆盘割刀转速和前进速度对损失率和破头率具有极显著影响，确定了最低损失率参数组合条件为圆盘割刀转速为500 r·min-1，前进速度为2.6 km·h-1，在此条件下，理论损失率为10.04%，理论破头率为6.19%。通过验证试验对最低损失率参数组合进行检验，结果表明，损失率和破头率实际值与理论值的相对误差都在5%以内，优化结果可靠。该收获机满足木薯茎叶青贮饲料机械化收获作业要求，最低损失率参数组合可为其田间作业参数提供参考。 相似文献
19.
[目的]研究4种多年生禾本科牧草在3种收获方式下的产量损失情况。[方法]以人工完全收获为参照,研究了谷物联合式收割机直接收获法与人工分段收获法在4种多年生禾本科牧草种子收获过程中的产量损失情况,同时研究了不同清选方式对种子质量的影响,分析了农户人工筛选种子的质量水平。[结果]扁穗冰草和新麦草适合于联合收割机直接收获,与人工完全收获的产量相比,收获率分别达到76.0%和66.1%。无芒雀麦种子以人工分段法收获的效率最高,达到74.7%。高羊茅种子的落粒性较强,联合式收割机收获和人工分段法收获的产量损失均超过50%,应考虑适当提前收获时间。[结论]该研究为当地小规模种植基地与农户分散种植并存的牧草种子生产方式提供技术依据。 相似文献