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浙江大学学报（农业与生命科学版）
Journal of Zhejiang University (Agriculture and Life Sciences)  2018, Vol. 44 Issue (4): 431-439    DOI: 10.3785/j.issn.1008-9209.2018.06.112
    
Development of a collision avoidance system for agricultural airboat based on laser sensor
LIU Yufei1,2,3, HE Yong1,2*, NOGUCHI Noboru3*
(1. College of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou 310058, China; 2. Key Laboratory of Spectroscopy Sensing, Ministry of Agriculture and Rural Affairs, Hangzhou 310058, China; 3. Research Faculty of Agriculture, Hokkaido University, Sapporo 060-0808, Hokkaido, Japan)
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Abstract  To avoid hitting the edge of paddy field or moving obstacle in the paddy field when global position system signal was weak or was influenced by the strong wind, we proposed a laser sensor- based collision avoidance system. This collision avoidance system was based on Otsu method to find out the optimum position of edge point between the edge ground class and paddy field area class for determining the distance from the airboat to the edge. The dynamic experiment results showed that the root mean square error was 0.18 m for referring to the 3 m between the airboat and one edge of paddy field. For moving obstacle, a rectangular danger zone was set at the front of the airboat. A structure array was set up to record the obstacle information including obstacle number and distance between airboat and obstacle. The results showed that when the obstacle intruded the danger zone, the airboat would brake until the obstacle moved out, which would avoid the collision.

Key words： airboat      laser sensor      obstacle detection      collision avoidance     
Published: 11 September 2018
CLC:  S 24  
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LIU Yufei
HE Yong
NOGUCHI Noboru
Cite this article:

LIU Yufei, HE Yong, NOGUCHI Noboru. Development of a collision avoidance system for agricultural airboat based on laser sensor. Journal of Zhejiang University (Agriculture and Life Sciences), 2018, 44(4): 431-439.

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http://www.zjujournals.com/agr/10.3785/j.issn.1008-9209.2018.06.112     OR     http://www.zjujournals.com/agr/Y2018/V44/I4/431


基于激光传感器的农用空气动力船防撞系统开发

为避免由于全球定位系统信号不稳定或者受到风的影响，空气动力船在水田作业时与水田边缘及行进前方移动障碍物发生碰撞，本文提出了一种基于激光传感器的防撞系统。该系统基于大津法（Otsu 算法），将激光束数据分为水岸数据集和田内数据集2 类，寻找边界位置点的最优解，进而确定空气动力船到水田边界的距离信息。动态试验结果表明，当空气动力船沿与水田边界相距3 m的方向行进时，均方根误差为0.18 m，可以满足防撞要求。针对船体前方的移动障碍物，设计了一个矩形危险区域，并构建结构体数组，用于记录危险区域中障碍物的数量、障碍物与船间的距离等信息。结果表明，当障碍物进入危险区域后，空气动力船制动，直到障碍物移出危险区域，从而避免碰撞的发生。
[1] XU Yimeng, ZHU Xiaowen, LIU Zhijie, HU Yaohua, GU Fang. Field simulation and structure optimization of the air conveying system in air assisted sprayer based on computer fluid dynamics[J]. Journal of Zhejiang University (Agriculture and Life Sciences), 2018, 44(4): 451-458.