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首页> 外文期刊>Agricultural mechanization in Asia, Africa and Latin America >Design, Development, and Evaluation of a Fuzzy-based Automatic Guidance System for JD955 Combine Harvester
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Design, Development, and Evaluation of a Fuzzy-based Automatic Guidance System for JD955 Combine Harvester

机译：JD955联合收割机基于模糊的自动制导系统的设计，开发和评估

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摘要

An automatic steering system based on fuzzy logic was developed aiming at navigating a JD955 combine harvester. This system included electro-hydraulic components to steer the harvester using electrical signals, a machine vision system to determine the lateral and angular deviations of the harvester, a fuzzy control system to generate correction signals and a safety system for the steering circuit. Results of evaluation showed that the image processing system was able to detect a specific path accurately in 98% of the cases. Root Mean Square (RMS) of deviations from the path was used to evaluate the system performance. Evaluation of the system was performed on straight-line and curved paths at travel speeds of 1 and 2 m/s and path negotiation modes of manual or automatic steering. Results showed that travel speed increase in the automatic mode caused the error RMS to increase from 6.7 to 11.6 cm. Also, it was found that the automatic steering system was success- ful in navigating the harvester on a straight path with more accuracy compared to human operators (RMS of 6.7 compared to 9.2 for manual steering). However, on the curvilinear path, deviation from the path in the manual mode was significantly smaller than that in the automatic steering mode i.e. the drivers had higher performance in steering the combine on a curvilinear path.
机译：针对导航JD955联合收割机，开发了基于模糊逻辑的自动转向系统。该系统包括用于通过电信号操纵收割机的电动液压组件，用于确定收割机横向和角度偏差的机器视觉系统，用于生成校正信号的模糊控制系统以及用于转向电路的安全系统。评估结果表明，该图像处理系统能够在98％的情况下准确检测到特定路径。路径偏离的均方根（RMS）用于评估系统性能。对系统的评估是在直线和弯曲路径上以1和2 m / s的行进速度以及手动或自动转向的路径协商模式进行的。结果表明，自动模式下的行进速度增加导致误差RMS从6.7厘米增加到11.6厘米。此外，还发现自动转向系统成功地使收割机在直线路径上导航，与人工操作相比，精度更高（RMS为6.7，而手动转向为9.2）。然而，在曲线路径上，手动模式下的路径偏离明显小于自动转向模式下的偏离，即，驾驶员在曲线路径上操纵联合收割机具有更高的性能。

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