Authors

Abstract

In order to improve the safety of agricultural vehicle in the field, we established a vehicle kinematics model for hanging agricultural tools, and comprehensively considered driving speed, the agricultural tool rotation radius, and vehicle movement trend to propose an agricultural vehicle field operation cross- boundary warning method based on a Robot Operating System (ROS). Furthermore, we designed a set of agricultural vehicle safety warning systems and employed Qt Creator to develop the agricultural vehicle warning system operation interface. Following this, a test platform was built based on the Oubao 4040 tractor and unilateral cross-boundary warning tests were conducted. Test results demonstrate the ability of the proposed cross-boundary warning system to: i) correctly determine the warning area at different speeds (low (3.6km/h±0.5km/h), medium (10.8km/h±1.0km/h) and high (18.0km/h±1.5km/h)) and driving paths ("V" and "U"-shaped routes); ii) and to prompt the operator in a timely manner. The proposed framework exhibits strong applicability and improves the safety of agricultural vehicle hanging agricultural tools.

Abstract in Chinese

为提高农业机械田间作业的安全性，本研究建立了悬挂农具的车辆运动学模型，综合考虑了行驶速度、农具旋转半径与车辆运动趋势，提出了一种农业机械田间作业越界预警方法，并基于ROS系统设计了一套农业机械安全预警系统，使用Qt Creator开发了农业机械预警系统操作界面，搭建了以欧豹4040型拖拉机为基础的试验平台，进行了单边越界预警试验。试验结果表明，本研究设计的越界预警系统在不同速度（低速 （3.6km/h±0.5km/h），中速 （10.8km/h±1.0km/h）和高速（18.0km/h±1.5km/h））与不同行驶路径（“V”和“U”型路线）下均能正确判断预警区，并能够及时提示操作人员，具有良好的适用性，具有提高悬挂农具的农业车辆田间作业安全性的潜力。