An efficient headland-turning navigation system for a safflower picking robot

Guomin Gao; Hui Guo; Jing Zhang; Zhenguo  Zhang; Tianlun  Wu; Hao  Lu; Zhaoxin  Qiu; Haiyang  Chen; Zhen  Lingxuan

doi:10.4081/jae.2023.1539

Journal of Agricultural Engineering (Oct 2023)

An efficient headland-turning navigation system for a safflower picking robot

Guomin Gao,
Hui Guo,
Jing Zhang,
Zhenguo Zhang,
Tianlun Wu,
Hao Lu,
Zhaoxin Qiu,
Haiyang Chen,
Zhen Lingxuan

Affiliations

Guomin Gao: College of Mechanical and Electrical Engineering, Xinjiang Agricultural University, Urumqi
Hui Guo: College of Mechanical and Electrical Engineering, Xinjiang Agricultural University, Urumqi
Jing Zhang: College of Mechanical and Electrical Engineering, Xinjiang Agricultural University, Urumqi; Department of Biosystems Engineering, Zhejiang University, Hangzhou
Zhenguo Zhang: College of Mechanical and Electrical Engineering, Xinjiang Agricultural University, Urumqi
Tianlun Wu: College of Mechanical and Electrical Engineering, Xinjiang Agricultural University, Urumqi
Hao Lu: College of Mechanical and Electrical Engineering, Xinjiang Agricultural University, Urumqi
Zhaoxin Qiu: College of Mechanical and Electrical Engineering, Xinjiang Agricultural University, Urumqi
Haiyang Chen: College of Mechanical and Electrical Engineering, Xinjiang Agricultural University, Urumqi
Zhen Lingxuan: College of Electronic and Information Engineering, Southwest University, Chongqing

DOI: https://doi.org/10.4081/jae.2023.1539
Journal volume & issue: Vol. 54, no. 3

Abstract

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This study proposes a navigation system for the headland autonomous turning of a safflower picking robot. The proposed system includes binocular cameras, differential satellites, and inertial sensors. The method of extracting the headland boundary line combining the hue, saturation, and value-fixed threshold segmentation method and random sample consensus algorithm and planning the headland-turning trajectory of a robot based on the multiorder Bezier curve are used as control methods. In addition, a headland-turning tracking model of a safflower picking robot is designed, and a path-tracking control algorithm is developed. A field test verifies the performance of the designed headland-turning navigation system. The test results show that the accuracy of the judgment result regarding the existence of a headland is higher than 96%. In headland boundary detection, the angle deviation is less than 1.5˚, and the depth value error is less than 50 mm. The headland-turning path tracking test result shows that at a turning speed of 0.5 km/h, the average lateral deviation is 37 mm, and the turning time is 24.2 seconds. Compared to the 1 km/h, the turning speed of 0.5 km/h provides a better trajectory tracking effect, but the turning time is longer. The test results verify that this navigation system can accurately extract the headland boundary line and can successfully realise the headland-turning path tracking of a safflower picking robot. The results presented in this study can provide a useful reference for the autonomous navigation of a field robot.

Published in Journal of Agricultural Engineering

ISSN: 1974-7071 (Print); 2239-6268 (Online)
Publisher: PAGEPress Publications
Country of publisher: Italy
LCC subjects: Agriculture: Agriculture (General)
Website: http://www.agroengineering.org

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