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Shuo Zhang
College of Mechanical and Electronic Engineering, Northwest A&F University, Yangling 712100, China

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Journal article
Published: 16 April 2020 in Applied Sciences
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With the increase of labor cost and the development of agricultural mechanization, standardized orchards suitable for autonomous operations of agricultural machinery will be a future development trend of the fruit-planting industry. For field-planting processes of standardized orchards, autonomous navigation of orchard vehicles in complex environments is the foundation of mechanized and intelligent field operations. In order to realize autonomous driving and path-tracking of vehicles in complex standardized orchards that involve much noise and interference between rows of fruit trees, an automatic navigation system was designed for orchard vehicles, based on 2D lasers. First, considering the agronomic requirements for orchard planting such as plant spacing, row spacing and trunk diameter, different filtering thresholds were established to eliminate discrete points of 2D laser point cloud data effectively. Euclidean clustering algorithm and the important geometric theorems of three points collinearity was used to extract the central feature points of the trunk, as the same time, navigation path was fitted based on the least square method. Secondly, an automatic navigation control algorithm was designed, and the fuzzy control was used to realize the dynamic adjustment of the apparent distance of the pure pursuit model. Finally, the reliability of the proposed approach was verified by simulation using MATLAB/Simulink, and field tests were carried out based on electric agricultural vehicle. Experimental results show that the method proposed in this study can effectively improve the precision of automatic navigation in complex orchard environment and realize the autonomous operation of orchard vehicles.

ACS Style

Shuo Zhang; Chengyang Guo; Zening Gao; Adilet Sugirbay; Jun Chen; Yu Chen. Research on 2D Laser Automatic Navigation Control for Standardized Orchard. Applied Sciences 2020, 10, 2763 .

AMA Style

Shuo Zhang, Chengyang Guo, Zening Gao, Adilet Sugirbay, Jun Chen, Yu Chen. Research on 2D Laser Automatic Navigation Control for Standardized Orchard. Applied Sciences. 2020; 10 (8):2763.

Chicago/Turabian Style

Shuo Zhang; Chengyang Guo; Zening Gao; Adilet Sugirbay; Jun Chen; Yu Chen. 2020. "Research on 2D Laser Automatic Navigation Control for Standardized Orchard." Applied Sciences 10, no. 8: 2763.

Journal article
Published: 01 January 2020 in International Journal of Agricultural and Biological Engineering
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A large high-clearance self-propelled sprayer chassis was designed according to the requirements of the sprayer’s driving operation and the overall goal. The structural characteristics and working principle of the chassis drive system, suspension system, track adjustment system, and frame were analyzed. A finite element analysis of the frame was carried out under four extreme conditions: full load bending, full load torsion, full load emergency braking and full load emergency turning. Under these four conditions, the maximum stress values of the frame were 149.45 MPa, 219 MPa, 151.44 MPa, and 123.27 MPa respectively, and the maximum strain values were 1.12 mm, 2.22 mm, 0.95 mm, and 1.16 mm respectively. A theoretical analysis of the stability, steering ability, and obstacle navigation of the sprayer chassis was conducted. The results showed that the upper angle θlim, lower angle θ׳lim and lateral limit tumbling angle φlim of the sprayer chassis were 50.1°, 30.0° and 35.3° respectively. The minimum turning radius of the chassis was 5816 mm, and the minimum turning width was 4113 mm. The maximum obstacle crossing heights of the front and rear wheels were 466 mm and 457 mm. The theoretical analysis showed that the designed chassis met the field management operations of large plots. A field experiment of the high-clearance self-propelled sprayer chassis at full load was conducted. The experimental results were consistent with the theoretical analysis results. The sprayer chassis not only good handling stability but also good ride comfort. The results of this study provide references for the design of high-clearance self-propelled sprayer chassis. Keywords: high-clearance self-propelled sprayer, chassis performance, frame, suspension, design, experiment DOI: 10.25165/j.ijabe.20201302.5262 Citation: Chen Y, Mao E R, Li W, Zhang S, Song Z H, Yang S J, et al. Design and experiment of a high-clearance self-propelled sprayer chassis. Int J Agric & Biol Eng, 2020; 13(2): 71–80.

ACS Style

Yu Chen; Enrong Mao; Wei Li; Shuo Zhang; Zhenghe Song; Shanju Yang; Jun Chen. Design and experiment of a high-clearance self-propelled sprayer chassis. International Journal of Agricultural and Biological Engineering 2020, 13, 71 -80.

AMA Style

Yu Chen, Enrong Mao, Wei Li, Shuo Zhang, Zhenghe Song, Shanju Yang, Jun Chen. Design and experiment of a high-clearance self-propelled sprayer chassis. International Journal of Agricultural and Biological Engineering. 2020; 13 (2):71-80.

Chicago/Turabian Style

Yu Chen; Enrong Mao; Wei Li; Shuo Zhang; Zhenghe Song; Shanju Yang; Jun Chen. 2020. "Design and experiment of a high-clearance self-propelled sprayer chassis." International Journal of Agricultural and Biological Engineering 13, no. 2: 71-80.