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第40届中国控制会议

作者： Chuangxin He Chao Wu Nan Li Zhonghua Miao School of Mechanical and Electrical Engineering and Automation Shanghai University

In order to improve the alignment quality of the cotton picker and reduce the labor intensity of the driver,an auto-follow row assist technology of the cotton picker based on speed adaptive is designed.Take the 4 MY-6 cotton picker produced by MODERN AGRICULTURAL EQUIPMENT Co.,Ltd.as the research platform,The course deviation is used as the input of the controller,The controller adjusts the PID parameters online according to the speed of the cotton picker,and then adjusts the Angle of the rear wheel,so that the head of the cotton picker can automatically align with the cotton row.The field experiment results show that the method proposed in this paper can adapt to the change of the cotton picker’s walking speed well,and has a good effect on the auto-follow row,which provides a technical reference for automatic navigation of cotton harvesting operation.

关键词： Cotton picker auto-follow row adaptive control Course tracking

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Intelligent vehicle pedestrian tracking based on YOLOv3 and DASiamRPN

Intelligent vehicle pedestrian tracking based on YOLOv3 and ...

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第40届中国控制会议

作者： Chuangxin He Xu Zhang Zhonghua Miao Teng Sun School of Mechanical and Electrical Engineering and Automation Shanghai University

In the field of robot and autopilot,aiming at the difficulty that the traditional single target pedestrian tracking algorithm needs manual frame selection,this paper puts forward a pedestrian tracking algorithm which blends YOLOv3 and DASiam RPN to realize the designated pedestrian tracking.The algorithm automatically selects the tracking target through YOLOv3,and then uses the tracking target as the template to input into DASiamRPN for tracking.The real-time pedestrian tracking experiment based on the Kinect camera was carried out,and the tracking effects of SiamRPN,Deepsort,SiamFC and Mosse+KCF algorithms were compared.The experimental results show that the optimal running speed of DASiamRPN is 34 fps while ensuring the tracking accuracy.Finally,the algorithm has been applied to Bulldog robot based on ROS,and the pedestrian tracking is realized successfully,which verifies the real-time and robustness of the algorithm.

关键词： Pedestrian tracking YOLO DASiamRPN ROS

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Design of Vision Control System of Tomato Picking Robot

Design of Vision Control System of Tomato Picking Robot

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第40届中国控制会议

作者： Chuangxin He Chunyu Deng Nan Li Zhonghua Miao School of Mechatronic Engineering and Automation Shanghai University

Tomato picking is a relatively complex production link in the overall process of tomato production.It is the labor-intensive work and it is urgent to use automated picking of tomato fruits.Therefore,this article mainly uses the depth camera and the six-degree-of-freedom manipulator to study the construction of the visual servo system,the modeling and kinematics simulation of the manipulator in the automatic tomato picking robot.We have established a robot visual servo system that can be directly grasped based on the robot operating system（ROS）.The system acquires fruit targets through visual sensors,uses the depth and color information of the targets,and uses coordinated control strategies for hands and eyes at different distances.The tomato picking space is divided into multiple picking sub-regions,and the picking path planning is combined with the obstacle avoidance algorithm to improve the overall efficiency of tomato picking.

关键词： Picking robot ROS vision servo system hand and eye coordination strategy

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Experimental verification of formation control in nonholonomic multi-mobile robots

Experimental verification of formation control in nonholonom...

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第40届中国控制会议

作者： Dongdong Wang Jin Zhou Chuangxin He Zhonghua Miao School of Mechatronic Engineering and Automation Shanghai University Shanghai Institute of Applied Mathematics and Mechanics and Shanghai Key Laboratory of Mechanics in Energy Engineering Shanghai University

Mobile robots is one of the well-known nonholonomic system. A new kinematic consistency controller is proposed for a nonholonomic mobile robot model with an integrated approach of kinematic and torque controllers to accomplish tracking control of the target trajectory. In this paper, the reliability of the controller is demonstrated using simulation software and a two-drive wheel mobile robot experimental platform to validate the controller.

关键词： nonholonomic mobile robots tracking controller experimental validation

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Distributed Consensus Control of Nonlinear Multiagent Systems Satisfying Incremental Quadratic Constraints

Distributed Consensus Control of Nonlinear Multiagent System...

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第40届中国控制会议

作者： Yuchen Qian Zhonghua Miao Xiaojin Zhu Chuangxin He the School of Macaronic Engineering and Automation Shanghai University

In this paper, we investigate the problem of leaderless consensus control for the multiagent systems with nonlinear dynamics satisfying incremental quadratic constraints. A distributed dynamic consensus protocol, decided by communication among neighboring agents, has been presented to render nonlinear agents consensus by choosing appropriate coupling weights without knowing full state information. Further, extensions to consensus strategies with nonlinear dynamics for the leaderfollowing fashion are also addressed. In contrast to the conventional nonlinear consensus control methodologies, the proposed approach generalizes the Lipschitz condition and the combined condition of one-sided Lipschitz and quadratic inner-boundness conditions to a new generalized type of nonlinearity, which shows us a less conservative result in the Lyapunov proof. Finally,the simulation results for six agents are presented to show the feasibility and effectiveness of the proposed control protocol.

关键词： Distributed consensus control incremental multiplier matrix（δMM） incremental quadratic constraints（δQC） nonlinear multiagent systems

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Extracting the navigation path of an agricultural plant protection robot based on machine vision

Extracting the navigation path of an agricultural plant prot...

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第40届中国控制会议

作者： Chuangxin He Qingtai Chen Zhonghua Miao Nan Li Teng Sun School of Mechatronics Engineering and Automation Shanghai University

Intelligent agricultural machinery is the development trend of future agricultural machinery.The automatic navigation of agricultural machinery is one of the core technologies in precision agriculture,which is widely used in the production processes of farming,seeding,fertilization,spraying,and harvesting.To achieve autonomous operation,it is necessary to develop a reliable and stable navigation system.The navigation route detection algorithm based on computer vision is the core of the automatic navigation system.Aiming at the extraction of visual navigation lines,this paper proposes a method that combines contour computing with vertical projection.It uses a position clustering and the shortest distance algorithm to fit the navigation line through the ordinary least square method.The navigation parameters are calculated from the navigation line and provided to the agricultural robot.In the experiments,it is shown that the detection of multiple rows of crops and autonomous walking along the rows can be achieved under indoor illumination.As the result,the maximum navigation path deviation is less than 0.5°,and the average processing time of each loop is about 25 ms,which verifies the high accuracy and efficiency of the proposed algorithm,and proves that it can be extended to practical agricultural robots.

关键词： machine vision navigation line extraction position clustering autonomous walking

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Design of label information recognition system based on vision

Design of label information recognition system based on visi...

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第40届中国控制会议

作者： Zhonghua Miao Chenchen Sun Nan Li Chuangxin He Teng Sun School of Mechatronics Engineering and Automation Shanghai University

With the frequent use of label form in daily life,it is difficult for human eyes to observe the label information efficiently and precisely to meet the requirements of modern industrial production.Aiming at the above problem,the theory research and system design of label identification system have been carried out.In this paper,the proposed label recognition technology is mainly based on the core idea of creating template tags and the main technology of image processing as the premise.Using the relative position relationship between template tags and the target area for positioning,it can process the identification of tags entering the acquisition area at any state or from any angle.Subsequently,image preprocessing,two-dimensional affine change and morphological processing of the image were performed to make the image clear and concise to the greatest extent.On this basis,from the location of the text to segment the interested region and through the template matching method to identify the single text,then output the final result as a string.Finally,using the designed interface to visualize the application effect of the whole system.The advantages of the whole design lie in:first,it only needs to be initialized once,then it can enter the loop to identify the designated position,which is highly automated;the second is that the system can identify the label form of different angles and states,which makes the recognition range of the system wider.

关键词： Create template image processing character recognition interface design

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Logistics Service System for Agricultural Robot based on Multi-Machine Cooperation

Logistics Service System for Agricultural Robot based on Mul...

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第40届中国控制会议

作者： Zhonghua Miao Zhao Li Nan Li Chuangxin He Teng Sun School of Mechatronics Engineering and Automation Shanghai University

In the field environment,the energy and consumables carried by a single agricultural machine usually can not meet the task requirement.When it is necessary to replenish materials,there are two options:one is to return the agricultural robot to the warehouse for replenishment,or to transport the materials to the agricultural robot with the logistics service.Comparing the two methods,the latter requires less time and energy consumption and is more efficient.This paper presents a low-cost outdoor guided vehicle which is specially used to supplement materials for agricultural robots.Specially,the internet was used as the bridge to connect the demand and supply sides:large-scale work robot and AGV.A single-line lidar was used as the main sensor for positioning and navigation.And the mechanical arm and carrier platform were used as the loading device.After the investigation of a variety of working robots,this paper establishes a related work efficiency model to evaluate the method proposed.After calculation,the automatic farm’s work efficiency is improved by 11.5% through automatic supply and demand response.

关键词： Agricultural robot AGV Unmanned farm Operational efficiency

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Weed Detection Based on the Fusion of Multiple Image Processing Algorithms

Weed Detection Based on the Fusion of Multiple Image Process...

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第40届中国控制会议

作者： Zhonghua Miao Xiaoyou Yu Nan Li Chuangxin He Teng Sun School of Mechatronics Engineering and Automation Shanghai University

Crop weeding is the most time consuming part of agricultural production,which requires a large amount of manpower and material resources.At present,weeding operations are basically done by manual removal and manual spraying of pesticides.On the basis of this situation,an automatic weed recognition algorithm based on multi-image processing algorithm has been proposed in this paper to reduce the production cost of agricultural products and the environmental pollution caused by pesticides.Further,the algorithm of implementation steps can be presented in the following steps.First,the soil background is segmented from the image by image preprocessing.Then,the crops and weeds are classified by area threshold,template matching and saturation threshold respectively.Finally,the weights of the three image processing methods are assigned,and the precise identification and location of crops and weeds are realized by voting.In this paper,an experimental study has been carried out on soybean weeding in the field.Meanwhile,the results of the study show that the average error rate of weed identification is18.18% and the accuracy of weed identification is 81.82%.At the same time,compared with the single method of area threshold,template matching and saturation threshold,the accuracy of weed identification based on voting weight increased by 12.83%on average.Further,the algorithm in this study can provide technical support for intelligent agricultural applications such as weeding operation by intelligent mobile robot.

关键词： Automatic weed Image processing Algorithm fusion Voting fusion

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耦合粒子图像测速误差的连续伴随数据同化技术

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航空学报 2022年第5期43卷 231-242页

作者：邓志文何创新刘应征上海交通大学机械与动力工程学院动力机械与工程教育部重点实验室上海200240 上海交通大学燃气轮机研究院上海200240

提出了一种耦合粒子图像测速(PIV)实验误差的连续伴随数据同化算法,通过优化目标损失函数,增强算法在不同误差场景下的鲁棒性。为了验证该算法的有效性,先对已知PIV流场植入合成误差进行同化对比测试,继而对PIV互相关算法不同参数设置... 详细信息

提出了一种耦合粒子图像测速(PIV)实验误差的连续伴随数据同化算法,通过优化目标损失函数,增强算法在不同误差场景下的鲁棒性。为了验证该算法的有效性,先对已知PIV流场植入合成误差进行同化对比测试,继而对PIV互相关算法不同参数设置所获得的流场进行同化研究。结果表明:相比于原连续伴随数据同化,耦合PIV实验误差的同化算法能够对实验观测数据去伪存真,抗误差干扰能力明显提升,鲁棒性更强,能够对高误差场景下的流动数据进行更好地同化,准确地预测流场的真实分布规律,还原流场细节。

关键词： PIV 数据同化连续伴随算法 PIV实验误差平板绕流

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