目的 我国是人口农业大国也是人口大国,大豆作为世界上最大的油料作物和主要的植物油脂来源,一直是我国重要的经济作物和战略物资,其机械化收获水平直接影响国家粮食安全,如何突破传统大豆收获机装备技术瓶颈,将中国人的饭碗牢牢掌握在自己手上,实现高质广适智能化收获关键技术突破和应用推广是本文研究的重点。方法 针对我国豆类机械化收获存在的损失率高、智能化水平低等问题,融合北斗导航系统（BDS）与5G+MEC（多接入边缘计算）技术,构建了豆类无人驾驶收获装备的智能化作业系统。通过开发基于BDS的A-B路径规划算法。结合5G+MEC多源数据动态传输架构,实现了复杂田间环境下的精准导航与实时协同作业,路径规划精度达到厘米级。创新设计基于机器视觉的脱粒装置智能调控系统,集成多传感器融合控制技术,显著降低了收获过程中的机械损伤。结果 试验结果表明,该系统使豆类收获综合破碎率≤5%、总损失率≤5%、含杂率≤3%,作业效率达到8.2亩/h（1 亩=666.67 m2）。结论 豆类机械化收获的智能化转型为科技兴农提供了技术支撑,推动了未来农业装备向无人化、高效化方向发展。
Abstract
As a major agricultural and populous nation, China relies heavily on soybeans—the world's largest oil seed crop and primary source of plant-based oil—as a crucial cash crop and strategic resource. The level of mechanized soybean harvesting directly impacts China's national food security. This study focuses on breaking through the technological bottlenecks of traditional soybean harvesters, securing China's food supply, and achieving breakthroughs in the key technologies and widespread application of high-quality, wide-adaptability, and intelligent harvesting. To address the issues of high loss rates and low intelligence in legume mechanized harvesting in China, an intelligent operating system for unmanned legume harvesting equipment was developed by integrating the BeiDou Navigation Satellite System (BDS) with 5G+MEC (Multi-access Edge Computing) technology. By designing a BDS-based A-B line path planning algorithm and leveraging a 5G+MEC multi-source data dynamic transmission architecture, precise centimeter-level path planning was achieved, enabling precise navigation and real-time cooperative operation in complex field environments. An intelligent threshing device control system based on machine vision was innovatively designed, incorporating multi-sensor fusion control technology, and significantly reducing mechanical damage during harvesting. Experimental results demonstrated that the system achieved a comprehensive breakage rate of ≤5%, total loss rate of ≤5%, and impurity content of ≤3%, with an operating efficiency of 8.2 mu/h (1 mu = 666.67 m2). In conclusion, the intelligent transformation of mechanized legume harvesting provides technological support for technology-driven agricultural development, propelling future agricultural equipment toward unmanned and high-efficiency advancement.
关键词
北斗导航系统 /
5G+MEC /
豆类智能收获装备 /
无人驾驶 /
多源数据融合 /
智能化农业
Key words
BeiDou Navigation /
5G+MEC /
intelligent legume harvesting equipment /
unmanned /
multi-source data fusion /
smart agriculture
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基金
湖北省科技厅揭榜制科技重大项目（2022BEC053）
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