基于双源激光的田间作业机械导航定位系统研究
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摘要
精确定位技术是精细农业的一个重要研究内容,是实现智能农机的关键技术之一。由于我国南方水田面积小、使得成本较高的高精度DGPS难以大面积推广,为开发适于南方农业机械的低成本、高精度定位系统,本文提出了一种基于双源激光的定位技术,运用已知的两个激光发射器的距离和实时获得的激光发射器动态发射角度,实时解算出田间作业机械的坐标信息与运动姿态,为田间作业机械导航定位和田间数据定点采集提供技术支撑。本文的研究内容是湖南省自然科学基金“水田作业机器人无标识环境的导航定位技术研究(09JJ6091)”和国家科技支撑项目“轻简化水田作业关键装备研究与示范(2011BAD20B08)”的部分内容。研究以高速插秧机为对象搭建试验平台,对系统的无线交换方式、激光光斑识别算法、激光发射角初始化方法,激光接收靶跟踪算法、转向控制算法进行了详细研究,主要内容如下：
1.分析田间作业机械定位与自动驾驶的特点,结合现有定位系统的技术特点和成本因素,提出了基于双源激光的田间作业机械导航定位方法。
2.为保证数据交换的实时性,系统采用2.4G无线通信模块进行数据交换,针对三方数据通信(两激光发射器与接收靶)存在数据交换碰撞问题,提出采用环形链路数据交换的无线通信方法,配合相应的通信协议,确保数据的可靠传输。
3.为获得精确的激光发射器初始角度和基线长度,系统采用超声波对射方式进行距离测量,同时辅以无线通信实现超声波基准时间的启动,并根据投影原理解决探头之间的高度落差问题,通过温度补偿、系统误差补偿等措施,实现了两个激光发射器与激光接收靶三者间的初始距离精确测量,进而完成激光发射器旋转角度和基线长度的初始化。
4.为解决普通激光发射器的光晕、漫反射等问题,提出了基于算术均值滤波与中值滤波融合的激光光斑初始化处理算法。通过理论推导与实验,验证了算法的可行性。
5.为解决目标运动过程中接收靶本身运动及车体振动导致光斑中心检测偏差问题,提出运用可变增益的递推α-p滤波算法对经过初始滤波的激光光斑中心进行二次滤波,实现对光斑中心的动态预估,从而获得了准确的光斑中心,并验证了算法的可行性和必要性。
6.为保持对运动的激光接收靶的持续锁定,从而实现实时定位解算,在深入研究PID算法和卡尔曼滤波理论的基础上,提出了基于增量式PID快速修正的卡尔曼滤波算法,实现了双激光源对运动中的接收器的持续跟踪锁定,进而完成系统高精度定位。
7.以方向盘的转向控制为研究目标,建立了插秧机的转向控制数学模型,深入地研究了插秧机的导航控制方法,提出了模糊免疫PID的转向控制算法。通过Matlab仿真,在模糊免疫PID的Kp,Ki,Kd,K,η分别取6,2,2,0.5,0.5时,系统可获得很好的控制效果,并通过实验验证了导航跟踪精度完全能满足田间作业设备的需要。
Precision location technology is an important research content in precision agriculture, which is also a key technology to realize the intelligent agricultural machinery. The areas in southern paddy field is so small that the expensive and high-precision DGPS could not been applied in more areas. In order to develop a low-price and high-precision location system applied in small-sized agricultural machinery in the south, a kind of the location technology based on the double laser-transmitter was proposed in this thesis. The distance from the laser-transmitter to the laser-receiver can be measured directly at first. Then the transmitting angle can be figured out in real-time. Therefore, the location coordinate of the moving machine and its moving state can be calculated, which provided technology supporting for navigation&location of the agricultural machinery and the fixed-point data acquisition in the field. The content of this thesis belongs to a part of "Research on navigation&location technology of robots working in the paddy field without any mark (09JJ6091)" in Hunan science fund as well as "Research on the key and simple&flexible machinery working in the paddy field "in national science&technology support project.
Taking the high-speed rice transplanter2ZG630A as the test platform, the following main contents have been studied in detail such as the system's wireless switch way, laser spot recognition algorithm, the initialization way of the laser transmitting angle, the algorithm for tracking laser receiver and steering control algorithm, etc.
1. After the characteristics of location and auto-driving of the machine working in the paddy field have been analyzed, combined characteristics the and cost of the present location system, the navigation and location method for the working machinery in paddy field based on the double laser transmitter was proposed.
2. The system used2.4G wireless communication mode to realize the data exchange in real time. Because three-channel data communication (the two laser transmitters and the laser receiver target)may lead to the data communication collision, ring data exchange to realize wireless communication with the proper communication agreement was proposed to make sure the data transmission reliable.
3. In order to get the accurate laser transmitter angle and the baseline length, the system used ultrasonic wave at point-to-point to measure the distance. Meanwhile, wireless communication mode helped to realize the start of the reference time. According to the projection principle, the problem about height drop between probes could be solved. By the temperature compensation and system error compensation, the initial distance measurement accurately among two laser emitters and laser receiver can be realized and the initialization of the rotation angle of the laser emitter and the length of baseline also can also be performed.
4. In order to deal with the halo and diffuse reflection of the common laser transmitter, the algorithm about laser spot initialization combined the arithmetic average filtering and middle filtering algorithms were raised in this paper. After the theoretical deduction and test, the algorithm's availability and necessity had been proved.
5. Because receiving target self-moving and vehicle vibrating lead to the deviation of laser spot center caused between checked and actual during the movement of object, the recursive α-β filtering algorithm with variable gain was taken for the laser spot center's second filtering after initial filtering to realize its dynamic pre-estimate. The accurate center of the laser spot also be gotten, which proved the algorithm's availability and necessity.
6. In order to lock the moving laser receiver for a while and realize location calculation in real time, incremental PID quick erection Karlman filtering algorithm was raised after PID algorithm and Karlman filtering theory were studied deeply. It can realize that the double laser source can track and lock the moving receiver all the time and finish the system's high-precision location.
7. Taking steering wheel controlling as a study target, the mathematic model of the steering control system was established, the way of the navigation control was studied deeply and fuzzy immune PID steering controlling algorithm was proposed. When Kp,Kt,Kd,K,η of the fuzzy immune PID take the6,2,2,0.5,0.5, the system can be controlled greatly. And the test also proved that the precision of the navigation and tracking could satisfy the requirement of agricultural machinery.
1.分析田间作业机械定位与自动驾驶的特点,结合现有定位系统的技术特点和成本因素,提出了基于双源激光的田间作业机械导航定位方法。
2.为保证数据交换的实时性,系统采用2.4G无线通信模块进行数据交换,针对三方数据通信(两激光发射器与接收靶)存在数据交换碰撞问题,提出采用环形链路数据交换的无线通信方法,配合相应的通信协议,确保数据的可靠传输。
3.为获得精确的激光发射器初始角度和基线长度,系统采用超声波对射方式进行距离测量,同时辅以无线通信实现超声波基准时间的启动,并根据投影原理解决探头之间的高度落差问题,通过温度补偿、系统误差补偿等措施,实现了两个激光发射器与激光接收靶三者间的初始距离精确测量,进而完成激光发射器旋转角度和基线长度的初始化。
4.为解决普通激光发射器的光晕、漫反射等问题,提出了基于算术均值滤波与中值滤波融合的激光光斑初始化处理算法。通过理论推导与实验,验证了算法的可行性。
5.为解决目标运动过程中接收靶本身运动及车体振动导致光斑中心检测偏差问题,提出运用可变增益的递推α-p滤波算法对经过初始滤波的激光光斑中心进行二次滤波,实现对光斑中心的动态预估,从而获得了准确的光斑中心,并验证了算法的可行性和必要性。
6.为保持对运动的激光接收靶的持续锁定,从而实现实时定位解算,在深入研究PID算法和卡尔曼滤波理论的基础上,提出了基于增量式PID快速修正的卡尔曼滤波算法,实现了双激光源对运动中的接收器的持续跟踪锁定,进而完成系统高精度定位。
7.以方向盘的转向控制为研究目标,建立了插秧机的转向控制数学模型,深入地研究了插秧机的导航控制方法,提出了模糊免疫PID的转向控制算法。通过Matlab仿真,在模糊免疫PID的Kp,Ki,Kd,K,η分别取6,2,2,0.5,0.5时,系统可获得很好的控制效果,并通过实验验证了导航跟踪精度完全能满足田间作业设备的需要。
Precision location technology is an important research content in precision agriculture, which is also a key technology to realize the intelligent agricultural machinery. The areas in southern paddy field is so small that the expensive and high-precision DGPS could not been applied in more areas. In order to develop a low-price and high-precision location system applied in small-sized agricultural machinery in the south, a kind of the location technology based on the double laser-transmitter was proposed in this thesis. The distance from the laser-transmitter to the laser-receiver can be measured directly at first. Then the transmitting angle can be figured out in real-time. Therefore, the location coordinate of the moving machine and its moving state can be calculated, which provided technology supporting for navigation&location of the agricultural machinery and the fixed-point data acquisition in the field. The content of this thesis belongs to a part of "Research on navigation&location technology of robots working in the paddy field without any mark (09JJ6091)" in Hunan science fund as well as "Research on the key and simple&flexible machinery working in the paddy field "in national science&technology support project.
Taking the high-speed rice transplanter2ZG630A as the test platform, the following main contents have been studied in detail such as the system's wireless switch way, laser spot recognition algorithm, the initialization way of the laser transmitting angle, the algorithm for tracking laser receiver and steering control algorithm, etc.
1. After the characteristics of location and auto-driving of the machine working in the paddy field have been analyzed, combined characteristics the and cost of the present location system, the navigation and location method for the working machinery in paddy field based on the double laser transmitter was proposed.
2. The system used2.4G wireless communication mode to realize the data exchange in real time. Because three-channel data communication (the two laser transmitters and the laser receiver target)may lead to the data communication collision, ring data exchange to realize wireless communication with the proper communication agreement was proposed to make sure the data transmission reliable.
3. In order to get the accurate laser transmitter angle and the baseline length, the system used ultrasonic wave at point-to-point to measure the distance. Meanwhile, wireless communication mode helped to realize the start of the reference time. According to the projection principle, the problem about height drop between probes could be solved. By the temperature compensation and system error compensation, the initial distance measurement accurately among two laser emitters and laser receiver can be realized and the initialization of the rotation angle of the laser emitter and the length of baseline also can also be performed.
4. In order to deal with the halo and diffuse reflection of the common laser transmitter, the algorithm about laser spot initialization combined the arithmetic average filtering and middle filtering algorithms were raised in this paper. After the theoretical deduction and test, the algorithm's availability and necessity had been proved.
5. Because receiving target self-moving and vehicle vibrating lead to the deviation of laser spot center caused between checked and actual during the movement of object, the recursive α-β filtering algorithm with variable gain was taken for the laser spot center's second filtering after initial filtering to realize its dynamic pre-estimate. The accurate center of the laser spot also be gotten, which proved the algorithm's availability and necessity.
6. In order to lock the moving laser receiver for a while and realize location calculation in real time, incremental PID quick erection Karlman filtering algorithm was raised after PID algorithm and Karlman filtering theory were studied deeply. It can realize that the double laser source can track and lock the moving receiver all the time and finish the system's high-precision location.
7. Taking steering wheel controlling as a study target, the mathematic model of the steering control system was established, the way of the navigation control was studied deeply and fuzzy immune PID steering controlling algorithm was proposed. When Kp,Kt,Kd,K,η of the fuzzy immune PID take the6,2,2,0.5,0.5, the system can be controlled greatly. And the test also proved that the precision of the navigation and tracking could satisfy the requirement of agricultural machinery.
引文
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