Research on Auto-follow Row Assist Technology of Cotton Picker with Adaptive Speed

In order to improve the alignment quality of the cotton picker and reduce the labor intensity of the driver, an auto-follow row assist technology of the cotton picker based on speed adaptive is designed. Take the 4MY-6 cotton picker produced by MODERN AGRICULTURAL EQUIPMENT Co., Ltd.as the research platform, The course deviation is used as the input of the controller, The controller adjusts the PID parameters online according to the speed of the cotton picker, and then adjusts the Angle of the rear wheel, so that the head of the cotton picker can automatically align with the cotton row. The field experiment results show that the method proposed in this paper can adapt to the change of the cotton picker's walking speed well, and has a good effect on the auto-follow row, which provides a technical reference for automatic navigation of cotton harvesting operation.