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Development of autonomous navigation system for rice transplanter

International Journal of Agricultural and Biological Engineering 2018年第6期11卷 89-94页

作者： Xiang Yin Juan Du Noboru Noguchi Tengxiang Yang Chengqian Jin School of Agricultural Engineering and Food Science Shandong University of TechnologyZibo 255000China Research Faculty of Agriculture Hokkaido UniversityKita 9 Nishi 9Kita-kuSapporo 060-8589Japan Nanjing Research Institute for Agricultural Mechanization of Ministry of Agriculture and Rural Affairs Nanjing 210014China

Rice transplanting requires the operator to manipulate the rice transplanter in straight trajectories.Various markers are proposed to help experienced drivers in keeping straightforward and parallel to the previous path,which are extremely boring in terms of large-scale fields.The objective of this research was to develop an autonomous navigation system that automatically guided a rice transplanter working along predetermined paths in the field.The rice transplanter used in this research was commercially available and originally manually-operated.An automatic manipulating system was developed instead of manual functions including steering,stop,going forward and reverse.A sensor fusion algorithm was adopted to integrate measurements of the Real-Time Kinematic Global Navigation Satellite System(RTK-GNSS)and Inertial Measurement Unit(IMU),and calculate the absolute moving direction under the UTM coordinate system.A headland turning control method was proposed to ensure a robust turning process considering that the rice transplanter featured a small turning radius and a relatively large slip rate at extreme steering angles.Experiments were designed and conducted to verify the performance of the newly developed autonomous navigation system.Results showed that both lateral and heading errors were less than 8 cm and 3 degrees,respectively,in terms of following straight paths.And headland turns were robustly executed according to the required pattern.

关键词： autonomous navigation rice transplanter sensor fusion headland turning

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Development of autonomous navigation controller for agricultural vehicles

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International Journal of Agricultural and Biological Engineering 2020年第4期13卷 70-76页

作者： Xiang Yin Yanxin Wang Yulong Chen Chengqian Jin Juan Du School of Agricultural Engineering and Food Science Shandong University of TechnologyZiboShandong 255000China Nanjing Research Institute for Agricultural Mechanization of Ministry of Agriculture and Rural Affairs Nanjing 210014China

Agricultural vehicles are adopted to undertake farming tasks by traversing along crop rows in the field.Working quality depends significantly on the driving skills of the operator.Automatic guidance has been introduced into agriculture to achieve high-accuracy path tracking during the last decades,which contributes considerably to straight-line navigation.The objective of this research was to develop an autonomous navigation controller that allowed movement autonomy for various agricultural vehicles.Three wheel-type vehicles were used as the test platform featuring automatic steering,hydrostatic transmission and speed control,which included a rice transplanter,a high-clearance sprayer and a tractor.A dual-antenna RTK-GNSS receiver was attached to the vehicles to provide spatial information on both positioning and heading by using the RTX service from Trimble.A path planning method was proposed to create a straight-line reference path by giving two points,and the target path was determined according to the vehicle initial status and working assignment.headland turning was comprehensively taken into account by listing different turn patterns in order to realize autonomous navigation at the headland.The navigation controller hardware was fabricated for program execution,data processing and information communication with peripherals.A human-machine interface was designed for the operator to complete basic setting,path planning and navigation control by providing controls.Field experiments were conducted to evaluate the performance and versatility of the newly developed autonomous navigation controller in guiding agricultural vehicles to follow straight paths and turn at the headland.Results showed that an appropriate turn pattern was automatically executed when finishing straight-line navigation.The lateral error in straight-line tracking was no more than 6 cm,6 cm and 5 cm for the rice transplanter,the high-clearance sprayer and the tractor,respectively.And the maximum lateral RMS error was 3.10 cm,4.75 cm,2.21 cm i

关键词： autonomous navigation navigation controller agricultural vehicles straight-line tracking straight path headland turning

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