Design and Experiment of a Lateral Correction System for Inter/Intra-Row Mechanical Weeder
In order to improve the precision operation ability of the mechanical weeder in the field and avoid the large deviation of the weeding parts to damage the crops,a lateral correction system was designed and related experiments were analyzed.The system consists of three parts:crop row identification and offset calculation subsystem,mechanical deviation correction device and control execution subsystem.The crop row identification and offset calculation subsystem consists of Intel RealSense D435 depth camera,Jetson NX embedded computer,etc.The improved YOLOv5 deep learning algorithm was used to identify and locate the crop rows,and then the offset was calculated by fitting the straight line with the least squares method to the center point of the crop rows and sent to the control execution subsystem.The control execution subsystem received the offset from the crop row identification and offset calculation subsystem,and controlled the expansion and contraction of the hydraulic cylinder through the PID algorithm to realize the transverse alignment of the mechanical deviation correction device.The test results showed that when the forward speed of the tractor was 0.63,1.56 and 2.25 km/h,respectively,the average accuracy of the lateral correction system was 91.8％,88.7％and 87.4％,respectively,and the average response time of the correction was 1.4,0.8 and 0.5 s,respectively.The system can effectively alleviate the problem of crop damage caused by inaccurate alignment of agricultural machinery in the process of field weeding operations.
万方数据
维普
