MODELING AND ANALYSIS OF AN AGRICULTURAL VEHICLE CROSS-BOUNDARY WARNING SYSTEM
2021; Linguagem: Inglês
10.35633/inmateh-63-29
ISSN2068-2239
AutoresGuangrui Hu, Chuang Qi, Weiyu Kong, Jun Chen, Yu Chen, Shuo Zhang, Hongling Jin,
Tópico(s)Agricultural Engineering and Mechanization
ResumoIn 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
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