农业机械无人驾驶系统关键技术研究进展

doi:10.12398/j.issn.2096-7217.2022.01.004

摘要/Abstract

摘要： 农业机械无人驾驶系统是实现精准农业的基础, 研究和发展农业机械无人驾驶系统是缓解我国劳动力短缺、实现精准农业的有效途径。介绍国内外在农业机械导航定位技术、导航路径规划技术和自动转向技术等方面取得的最新进展,分别阐述了基于 GPS 定位技术、北斗定位技术和视觉导航的农业机械导航定位技术, 阐述基于全覆盖路径规划和全局点到点路径规划的全局路径规划算法, 基于避障和跟踪的局部路径规划, 以及基于电机动力和电控液压的自动转向技术。这些技术经过多年的发展已经比较成熟, 在农业生产实践中得到了广泛应用, 但仍存在许多问题, 包括定位技术容易受环境干扰, 路径规划技术数据利用率较低和对环境信息依赖程度较高, 自动转向技术改装过程复杂和在恶劣的田间作业容易损坏且不易维修。在此基础上, 提出组合导航、多传感器融合技术、模块化自动转向装置是农机无人驾驶系统未来的研究方向。

关键词: 导航定位, 路径规划, 自动转向, 避障, 路径跟踪

Abstract: Agricultural machinery driverless system is the basis for realizing precision agriculture. Research and development of agricultural machinery driverless system is an effective way to alleviate the shortage of labor force and realize precision agriculture. This paper introduces the latest progress in the navigation and positioning technology, navigation path planning technology and automatic steering technology of agricultural machinery in China and abroad. The navigation and positioning technologies of agricultural machinery based on GPS positioning technology, Beidou positioning technology and visual navigation are expounded respectively. The global path planning algorithm based on full coverage path planning and global point-to-point path planning is expounded. Local path planning based on obstacle avoidance and tracking, and automatic steering technology based on motor power and electronic hydraulic control. These technologies have been relatively mature after years of development, and have been widely applied in agricultural production practice. However, there are still many problems, including the positioning technology is vulnerable to environmental interference, the utilization rate of path planning technology data is low and the dependence on environmental information is high, and the automatic steering technology is complex in the modification process, and it is easy to damage and difficult to maintain in harsh field operations. Based on the above, it is proposed that integrated navigation, multi-sensor fusion technology and modular automatic steering device are the future research directions of agricultural machinery unmanned driving system.

Key words: navigation and positioning, path planning, automatic steering, obstacle avoidance, path tracking

中图分类号:

张隆梅, 刘岗微, 齐彦栋, 杨腾祥, 金诚谦. 农业机械无人驾驶系统关键技术研究进展[J]. 智能化农业装备学报（中英文）, 2022, 3(1): 27-36.

Zhang Longmei, Liu Gangwei, Qi Yandong, Yang Tengxiang, Jin Chengqian. Research progress on key technologies of agricultural machinery unmanned driving system[J]. Journal of Intelligent Agricultural Mechanization, 2022, 3(1): 27-36.

参考文献

［1］ Si J Q, Niu Y X, Lu J Z, et al. High-precision estimation of steering angle of agricultural tractors using GPS and low-accuracy MEMS ［J］. IEEE Transactions on Vehicular Technology, 2019, 68(12): 11738-11745.
［2］ Montiel O, Sepúlveda R, Orozco-Rosas U. Optimal path planning generation for mobile robots using parallel evolutionary artificial potential field ［J］. Journal of Intelligent & Robotic Systems, 2015, 79(2): 237-257.
［3］ Suri A, Vanswearingen J, Dunlap P, et al. Facilitators and barriers to real-life mobility in community-dwelling older adults: A narrative review of accelerometry and global positioning system-based studies ［J］. Aging Clinical and Experimental Research, 2022: 1-14.
［4］ Choudhary A R, Chaudhary N, Sharma M K. Advancements in global positioning system technology ［J］. Journal of Advanced Research in Geo Sciences & Remote Sensing, 2021, 7(3&4): 1-3.
［5］ Li Y J, Xiang Y, Liu Y, et al. Research on optimized algorithm of GPS velocity data of seeder based on Kalman filter ［J］. Journal of Chinese Agricultural Mechanization, 2020, 41(1): 148-154. （in Chinese)
［6］ Li Y J, Zhao Z X, Huang P K, et al. Automatic navigation system of tractor based on DGPS and double closed-loop steering control ［J］. Transactions of the Chinese Society for Agricultural Machinery, 2017, 48(2): 11-19. （in Chinese)
［7］ Yang Y X, Li J L, Xu J Y, et al. Contribution of the Compass satellite navigation system to global PNT users ［J］. Chinese Science Bulletin, 2011, 56(26): 2813-2819. （in Chinese)
［8］ Yang Z H, Xue B. The developed procedures and developing trends of Beidou satellite navigation system ［J］. Journal of Navigation and Positioning, 2022, 10(1): 1-14. （in Chinese)
［9］ Ding Y C, Zhan P, Zhou Y W, et al. Design and experiment of motion controller for information collection platform in field with Beidou positioning ［J］. Transactions of the Chinese Society of Agricultural Engineering, 2017, 33(12): 178-185. （in Chinese)
［10］ Xiong B, Zhang J X, Qu F, et al. Navigation control system for orchard spraying machine based on Beidou navigation satellite system ［J］. Transactions of the Chinese Society for Agricultural Machinery, 2017, 48(2): 45-50. （in Chinese)
［11］ Zhang Z Q, Li S C, Li C Y, et al. Navigation path detection method for a banana orchard inspection robot based on binocular vision ［J］. Transactions of the Chinese Society of Agricultural Engineering, 2021, 37(21): 9-15. （in Chinese)
［12］ Xie S S, Huang W F, Zhu L X, et al. Vision navigation system of farm based on improved Floodfill method ［J］. Journal of Chinese Agricultural Mechanization, 2021, 42(3): 182-188. （in Chinese)
［13］ Zhai Z Q, Zhu Z X, Du Y F, et al. Test of binocular vision-based guidance for tractor based on virtual reality ［J］. Transactions of the Chinese Society of Agricultural Engineering, 2017, 33(23): 56-65. （in Chinese)
［14］ Li M, Kenji I, Liu Z H, et al. Positioning algorithm for agricultural machinery omnidirectional vision positioning system ［J］. Transactions of the Chinese Society of Agricultural Engineering, 2013, 29(2): 52-59. （in Chinese)
［15］ Tian G Z, Gu B X, Irshad A M, et al. Traveling trajectory prediction method and experiment of autonomous navigation tractor based on trinocular vision ［J］. Transactions of the Chinese Society of Agricultural Engineering, 2018, 34(19): 40-45. （in Chinese)
［16］ Zhou J, He Y Q. Research progress on navigation path planning of agricultural machinery ［J］. Transactions of the Chinese Society for Agricultural Machinery, 2021, 52(9): 1-14. （in Chinese)
［17］ Zhang M, Ji Y H, Li S C, et al. Research progress of agricultural machinery navigation technology ［J］. Transactions of the Chinese Society for Agricultural Machinery, 2020, 51(4): 1-18. （in Chinese)
［18］ Galceran E, Carreras M. A survey on coverage path planning for robotics ［J］. Robotics and Autonomous systems, 2013, 61(12): 1258-1276.
［19］ Liu Y C, Geng D Y, Lan Y B, et al. Research progress of agricultural equipment full coverage path planning based on automatic navigation ［J］. Journal of Chinese Agricultural Mechanization, 2020, 41(11): 185-192. （in Chinese)
［20］ Zhai W X, Wang D X, Chen Z B, et al. Autonomous operation path planning method for unmanned agricultural machinery ［J］. Transactions of the Chinese Society of Agricultural Engineering, 2021, 37(16): 1-7. （in Chinese)
［21］ Tax M, Souères P, Frayssinet H. Path planning for complete coverage with agricultural machines ［C］∥ Field and Service Robotics. Springer, Berlin, Heidelberg, 2003: 549558.
［22］ Foka A F, Trahanias P E. Probabilistic autonomous robot navigation in dynamic environments with human motion prediction ［J］. International Journal of Social Robotics, 2010, 2(1): 79-94.
［23］ Liu Y F, Ji C Y, Tian G Z, et al. Obstacle avoidance path planning for autonomous navigation agricultural machinery ［J］. Journal of South China Agricultural University, 2020, 41(2): 117-125. （in Chinese)
［24］ Xi X B, Shi Y J, Shan X, et al. Obstacle avoidance path control method for agricultural machinery automatic driving based on optimized Bezier ［J］. Transactions of the Chinese Society of Agricultural Engineering, 2019, 35(19)： 82-88. （in Chinese)
［25］ Yao L J, Santosh K P, Yang Z D, et al. Path tracking of mobile platform in agricultural facilities based on ultra wideband wireless positioning ［J］. Transactions of the Chinese Society of Agricultural Engineering, 2019, 35(2): 17-24. （in Chinese)
［26］ Liu Z P, Zhang Z G, Luo X W, et al. Design of automatic navigation operation system for Lovol ZP9500 high clearance boom sprayer based on GNSS ［J］. Transactions of the Chinese Society of Agricultural Engineering, 2018, 34(1): 15-21. （in Chinese)
［27］ Zhang Z G, Luo X W, Li J L. Automatic steering control system of wheeled model farming machinery ［J］. Transactions of the CSAE, 2005, 21(11): 77-80. （in Chinese)
［28］ Chen Y, He Y. Development of agricultural machinery steering wheel angle measuring system based on GNSS attitude and motor encoder ［J］. Transactions of the Chinese Society of Agricultural Engineering, 2021, 37(10): 10-17. （in Chinese)
［29］ Bak T, Jakobsen H. Agricultural robotic platform with four wheel steering for weed detection ［J］. Biosystems Engineering, 2004, 87(2): 125-136.
［30］ Noguchi N, Terao H. Path planning of an agricultural mobile robot by neural network and genetic algorithm ［J］. Computers and Electronics in Agriculture, 1997, 18(2-3): 187-204.
［31］ He J, Zhu J G, Luo X W, et al. Design of steering control system for rice transplanter equipped with steering wheellike motor ［J］. Transactions of the Chinese Society of Agricultural Engineering, 2019, 35(6): 10-17. （in Chinese)
［32］ Yin X, An J H, Wang Y X, et al. Development and experiments of the autonomous driving system for highclearance spraying machines ［J］. Transactions of the Chinese Society of Agricultural Engineering, 2021, 37(9): 22-30. （in Chinese)
［33］ Yang Y, Zhang G, Zha J Y, et al. Design of automatic steering system based on direct connection of DC motor and full hydraulic steering gear ［J］. Transactions of the Chinese Society for Agricultural Machinery, 2020, 51(8): 44-54. （in Chinese)
［34］ Zhang Q, Reid J F, Wu D. Hardware-in-the-loop simulator of an off-road vehicle electro hydraulic steering system ［J］.Transactions of the ASABE, 2000,43(6): 1323-1330.
［35］ Zhang W Y, Ding Y C, Wang L, et al. Design and experiment on automatic steering control system of friction drive for tractor ［J］. Transactions of the Chinese Society for Agricultural Machinery, 2017, 48(6): 32-40. （in Chinese)
［36］ Li Y J, Zhao Z X, Huang P K, et al. Design and experiment of automatic steering control system based on Dongfanghong tractor ［J］. Transactions of the Chinese Society of Agricultural Engineering, 2015, 31(2): 93-99. （in Chinese)
［37］ Li Y, Zhang P, Yuan J, et al. Visual positioning and harvesting path optimization of white asparagus harvesting robot ［J］. Smart Agriculture, 2020, 2(4): 65-78. （in Chinese)
［38］ Ding Y C, Wang X P, Peng J Y, et al. Visual navigation system for wheel-type grain combine harvester ［J］. Smart Agriculture, 2020, 2(4): 89-102. （in Chinese)
［39］ Chen X G, Wen H J, Zhang W R, et al. Advances and progress of agricultural machinery and sensing technology fusion ［J］. Smart Agriculture, 2020, 2(4): 1-16. （in Chinese)
［40］ Wang C L, Li H W, He J, et al. State-of-the-art and prospect of automatic navigation and measurement techniques application in conservation tillage ［J］. Smart Agriculture, 2020, 2(4): 41-55. （in Chinese)
［41］ Wu Y X, Wu J Q, Yang Y H, et al. Design and application of hardware-in-the-loop simulation platform for AGV controller in hybrid orchard ［J］. Smart Agriculture, 2020, 2(4): 149-164. （in Chinese)
［42］ Sun H R, Sun L, Bi C G, et al. Hybrid multi-hop routing algorithm for farmland IoT based on particle swarm and simulated annealing collaborative optimization method ［J］. Smart Agriculture, 2020, 2(3): 98-107. （in Chinese)
［43］ Zhu D S, Fang H, Hu S M, et al. Development and application of an intelligent remote management platform for agricultural machinery ［J］. Smart Agriculture, 2020, 2(2): 67-81. （in Chinese)
［44］ Hu X L, Liang X X, Zhang J N, et al. Construction of standard system framework for intelligent agricultural machinery in China ［J］. Smart Agriculture, 2020, 2(4): 116-123. （in Chinese)