农机化研究2025，Vol.47Issue(6)：99-105,7.DOI:10.13427/j.issn.1003-188X.2025.06.015
无人农机障碍物检测系统设计
Design of Obstacle Detection System for Unmanned Agricultural Machinery
摘要
Abstract
The obstacle detection and positioning system based on RTK-GNSS,VLP-16 lidar and gesture sensors was be designed,which can realize the function of field obstacles detection and seedlings.The system was based on Kubota 2ZGQ-6D(NSPU-68CMD)type seedlings as the experimental carrier.The hardware was composed of the car body posi-tion collection module,point cloud data collection module and system power supply module.The software was composed of coordinate conversion modules and obstacles detection modules.Among them,the vehicle pose acquisition module can ob-tain the longitude and latitude coordinates of the rice transplanter operation field and the vehicle pose information;The co-ordinate conversion module can select the operating area of the rice transplanter based on the vehicle posture and latitude and longitude coordinates and establish the coordinate system of the rice transplanter's operating field;The point cloud da-ta collection module can obtain point cloud information of the working environment of the rice transplanter;The obstacle detection module can calculate the positioning coordinates of obstacles and distinguish their motion status based on the en-vironmental point cloud information through direct filtering,Gaussian filtering,ground point cloud segmentation,Euclide-an clustering,OBB bounding box fitting,and obstacle state estimation;The system power supply module realizes stable power supply for obstacle detection system.The obstacle detection experiment was conducted in a farmland environment,and the results showed that the system's positioning of obstacles fluctuated slightly.When the obstacle moved horizontally,the minimum deviation was 3.0 cm,the maximum deviation was 14.3 cm,the average deviation was 6.8 cm,the mini-mum deviation for vertical movement was 1.5 cm,the maximum deviation was 16.0 cm,and the average deviation was 7.9 cm;Within the designated obstacle detection area,the detection accuracy for static and dynamic obstacles can reach 90%.This system can effectively identify and accurately locate obstacles in the field,but it cannot determine the type of obstacles.关键词
无人农机/障碍物检测/RTK-GNSS/激光雷达/欧式聚类Key words
unmanned agricultural machinery/obstacle detection/RTK-GNSS/LiDAR/Euclidean clustering分类
农业科技引用本文复制引用
张淼,李晋阳,赵湛..无人农机障碍物检测系统设计[J].农机化研究,2025,47(6):99-105,7.基金项目
江苏省农业科技自主创新基金项目[CX(22)3090] （22）
江苏省重点研发计划(现代农业)项目(BE2018324) （现代农业）
镇江市重点研发计划(现代农业)项目(NY2022008) （现代农业）
