Path Planning Method for Combine Harvester Operations Based on Machine Vision
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摘要:
研究了基于机器视觉的联合收获机作业路径规划方法，解决联合收获机作业环境中因障碍物过多影响作业效率的问题。利用双目视觉相机采集联合收获机作业图像，选取九点标定法进行双目视觉相机的手眼标定。采用Canny算法利用高斯滤波器平滑处理图像，计算图像的梯度方向与幅值，利用双阈值连接联合收获机作业图像边缘，检测联合收获机作业图像边缘，划分收获目标与障碍物。依据人工势场法原理，利用联合收获机作业的环境信息构建一个势场。合成势场内联合收获机受到的引力与斥力，依据联合收获机的移动速度及合力方向，输出联合收获机的作业路径规划结果。试验结果表明，该方法可以依据联合收获机的作业环境，规划作业路径，有效规避障碍物，适应性好。
Abstract:Path planning method for combine harvester operations based on machine vision was studied to address issue of excessive obstacles affecting operational efficiency in combine harvester operating environment．Binocular vision camera was used to collect images of combine harvester operations, and nine point calibration method was selected for hand eye calibration of binocular vision camera．Canny algorithm was used to smooth image using a Gaussian filter, calculate gradient direction and amplitude of image, connect edges of combine operation image with dual thresholds, detect edges of combine operation image, and divide harvesting target and obstacles．Based on principle of artificial potential field method, a potential field was constructed using environmental information of combine harvester operation．Gravitational and repulsive forces received by combine harvester in synthetic potential field, based on movement speed and resultant direction of combine harvester, operation path planning results of combine harvester were output．Experimental results showed that, this method could plan operation path based on working environment of combine harvester, and planning results of operation path effectively avoid obstacles, with high applicability．
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表 1 4DL-5A型履带式联合收获机主要参数
Table 1. Detailed parameters of 4DL-5A tracked combine harvester
参数名称 数值 割台宽度/mm 2200 履带轨距/mm 1150 功率/kW 74.5 发动机额定转速/（r·min−1） 2400 粮箱容量/L 1500 作业速度/（km·h−1） 0～6.8 作业效率/（hm²·h−1） 0.2～0.5 最小离地间隙/mm 175 单位面积油耗/（kg·hm−2） 21～36 
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表 2 联合收获机作业覆盖率测试结果
Table 2. Test results of combined harvester operation coverage
田地类型 作业面积/m2 作业覆盖率/% 有效作业路径占比/% 四边形田地 500 93.8 95.4 1000 94.5 94.8 1500 95.7 95.6 2000 94.8 96.4 椭圆形田地 500 95.7 92.4 1000 93.6 94.7 1500 94.8 96.8 2000 95.8 95.7
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