Measuring Method of Slip Ratio for Tractor Driving Wheels Based on Machine Vision

Shaohua Zhu, Lin Wang, Zhongxiang Zhu, Enrong Mao, Yiming Chen, Yuxi Liu and Xianxu Du
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Shaohua Zhu: College of Engineering, China Agricultural University, Beijing 100083, China
Lin Wang: State Key Laboratory of Power System of Tractor, Luoyang 471039, China
Zhongxiang Zhu: College of Engineering, China Agricultural University, Beijing 100083, China
Enrong Mao: College of Engineering, China Agricultural University, Beijing 100083, China
Yiming Chen: College of Engineering, China Agricultural University, Beijing 100083, China
Yuxi Liu: College of Engineering, China Agricultural University, Beijing 100083, China
Xianxu Du: College of Engineering, China Agricultural University, Beijing 100083, China

Agriculture, 2022, vol. 12, issue 2, 1-16

Abstract: Tractors are prone to large slips when they are in field operation. The degree of slip plays a vital role in traction efficiency and fuel efficiency. This paper presents a method for measuring the slip ratio of tractors in field operation based on machine vision. The accurate measurement of slip ratio needs to obtain actual velocity and theoretical velocity separately. For obtaining the actual velocity, a monocular camera mounted on the tractor vertically faces down at the ground to collect images. Then, the feature points of inter-frame ground images are matched by the ORB (Oriented FAST and Rotated BRIEF) algorithm for calculating the translational displacement. Next, a homography matrix based on camera calibration is proposed to complete the transformation of a point from the pixel coordinate system to the world coordinate system. Aiming to acquire the theoretical velocity, a method that takes the variations in tire radius into account is proposed, and the tire radii of the driving wheels are indirectly determined by the tire inflation pressure in real-time. The proposed measurement method was verified with an experimental tractor. The results show that the mean absolute errors of the tractor driving wheels’ slip ratio measured by the machine vision method are less than 0.75%, and the maximum of the absolute errors is not more than 2.22%, which shows good performance.

Keywords: slip ratio measurement; machine vision; image feature points matching; tire inflation pressure; tractor driving wheels (search for similar items in EconPapers)
JEL-codes: Q1 Q10 Q11 Q12 Q13 Q14 Q15 Q16 Q17 Q18 (search for similar items in EconPapers)
Date: 2022
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