In order to improve the efficiency of mechanized corn harvesting and reduce the labor intensity of drivers,a corn harvesting row control system is developed.This system includes a corn border row sensing module and a row control module,by using laser radar to obtain corn row point cloud data,a rapid analysis and processing method for point cloud data based on STM32 processor and RT-Thread real-time operating system is proposed,which realizes the extraction of corn row boundary points and obtains lateral deviation through boundary point calculation.The system communication topology is designed to achieve efficient communication between sensing,processing,and row control modules.Field experiments were conducted to verify the performance of the system.The results showed that the average lateral deviation between the harvester and the actual boundary line of the corn row was 0.06 m and the maximum lateral deviation was 0.126 m,which met the requirements of corn row to row harvesting operations.The research could provide a certain reference for corn row to row harvesting.
关键词
玉米对行收获/控制系统/RT-Thread/激光雷达/单片机/点云数据
Key words
corn harvest in opposite rows/control system/RT-Thread/Lidar/single chip microcomputer/point cloud data
万方数据