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Development and Experiment of an Innovative Row-Controlled Device for Residual Film Collector to Drive Autonomously

Zhijian Chen1, Jianjun Yin1, Jiaxin Yang1

  • 1School of Agricultural Engineering, Jiangsu University, Zhenjiang 212013, China.

Sensors (Basel, Switzerland)
|October 28, 2023
PubMed
Summary

This study developed an automatic rowing control system for residual film collectors, significantly improving field harvesting efficiency and quality. The new system reduces deviation by over 50% compared to manual operation.

Keywords:
automatic alignmentcotton inspection devicecotton stalkskinetic modelsresidual film collector

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Area of Science:

  • Agricultural Engineering
  • Robotics
  • Control Systems

Background:

  • Manual rowing in field harvesting is inefficient due to workload and environmental factors.
  • Residual film collectors face challenges in maintaining optimal path following.
  • Automation is needed to enhance efficiency and quality in agricultural harvesting.

Purpose of the Study:

  • To design and implement an automatic rowing control system for the 4MZ-220D self-propelled residual film collector.
  • To improve the automation level and operational precision of residual film collectors.
  • To reduce deviation and enhance the stability and robustness of the harvesting process.

Main Methods:

  • Utilized a pure tracking model for path-tracking control.
  • Implemented fuzzy control principles for dynamic forward distance adjustment.
  • Determined steering angles using the kinematic model of the recovery machine.
  • Simulated and analyzed the system using MATLAB/Simulink.

Main Results:

  • The automatic rowing system reduced average deviation from 0.144 m (manual) to 0.066 m.
  • Average lateral deviation was reduced by 0.078 m.
  • Achieved a 95.71% probability of deviation within 0.1 m.

Conclusions:

  • The developed automatic rowing system demonstrates high stability and robustness.
  • The system meets the requirements for autonomous rowing operations in residual film collectors.
  • This research provides a foundation for future autonomous navigation technologies in agriculture.