| 高地隙施药机自动驾驶系统研制与试验 |
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| 引用本文： | 印祥,安家豪,王艳鑫,王应宽,金诚谦.高地隙施药机自动驾驶系统研制与试验[J].农业工程学报,2021,37(9):22-30. |
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| 作者姓名： | 印祥 安家豪 王艳鑫 王应宽 金诚谦 |
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| 作者单位： | 1. 山东理工大学农业工程与食品科学学院，淄博 255000;;1. 山东理工大学农业工程与食品科学学院，淄博 255000; 2. 农业农村部规划设计研究院，北京 100125;;1. 山东理工大学农业工程与食品科学学院，淄博 255000; 3. 农业农村部南京农业机械化研究所，南京 210000; |
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| 基金项目： | 山东省重大科技创新工程项目（2019JZZY010734）；山东省自然科学基金项目（ZR2020MC085）；国家重点研发计划项目（2017YFD0700405）；山东省高等学校优势学科人才团队培育计划项目（2016-2020） |
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| 摘 要： | 针对农业自动导航、电动自动转向、农机自动控制、精量施药控制等关键技术的集成应用问题,该研究以高地隙喷杆喷雾机为平台,基于机电液一体化控制与软硬件标准化,研制了用于高地隙施药机的自动驾驶系统。根据底盘机构和工作原理设计了电控执行机构,实现发动机启停、转向、油门调节、车速调节、液泵启停、喷杆伸缩的自动控制。设计了基于CAN总线的整车通信控制网络,实现手动遥控和自动导航2种模式的自由切换。设计了基于姿态测量的定位误差校正方法,补偿导航定位过程中因机体倾斜造成的位置测量误差,提出地头转弯过程中的直线作业路径规划方法,以提高调头的准确性并保证邻接行的上线精度。在验证自动操控机构和通信控制网络稳定性的基础上进行了手动遥控和自动导航的对比试验。结果表明:作业速度3.6km/h时,遥控操作和自动导航2种模式下横向偏差最大值分别为20.81和8.84 cm,航向偏角最大值为7.86°和2.48°、横向偏差的均方根误差最大值为7.47和4.66 cm。该研究设计的高地隙施药机自动驾驶系统能够实时准确执行手动遥控和自动导航2种模式下的操作指令,自动导航模式下的路径跟踪精度较高,满足田间施药作业需求。
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| 关 键 词： | 农业机械 自动导航 高地隙施药机 倾斜校正 自动控制 |
| 收稿时间： | 2020/11/30 0:00:00 |
| 修稿时间： | 2021/3/2 0:00:00 |
Development and experiments of the autonomous driving system for high-clearance spraying machines |
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| Yin Xiang,An Jiahao,Wang Yanxin,Wang Yingkuan,Jin Chengqian.Development and experiments of the autonomous driving system for high-clearance spraying machines[J].Transactions of the Chinese Society of Agricultural Engineering,2021,37(9):22-30. |
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| Authors: | Yin Xiang An Jiahao Wang Yanxin Wang Yingkuan Jin Chengqian |
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| Institution: | 1. School of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo 255000, China;;1. School of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo 255000, China; 2. Academy of Agricultural Planning and Engineering, Ministry of Agriculture and Rural Affairs, Beijing 100125, China;; 1. School of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo 255000, China; 3. Nanjing Institute of Agricultural Mechanization, Ministry of Agriculture and Rural Affairs, Nanjing 210000, China; |
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| Abstract: | This study aims to improve the automation and intelligence of high-clearance sprayers, while avoiding pesticide poisoning to operators. An unmanned high-clearance sprayer was therefore developed and then manufactured using state-of-the-art autonomous navigation, mechanical, electrical, and hydraulic technologies. A conventional high-clearance booming sprayer was selected to serve as the platform. The electrical system of the sprayer was composed of five sub-systems, including the driving control, navigation, remote control, spraying, and ground station. Electric devices were designed to realize automatic control of engine start/stop, four-wheel steering, throttle aperture, moving speed, spraying pump, and booming beams. A micro-controller PIC18F258 with CAN and serial ports was utilized to process data, and then send signals to the relays and motor drivers that rotated DC motors as executors. An electric steering was also developed, including the brushless motor, potentiometer, motor driver, and steering controller. The brushless motor was used to provide the steering torque, where the output shaft of the motor was connected directly to the input shaft of the hydraulic steering unit. A CAN-bus communication network was established to allow for the real-time switch between two modes, such as remote control and autonomous navigation. A dual-antenna RTK-GNSS receiver and an Inertial Measurement Unit (IMU) were used as navigation sensors to collect the positioning and attitude data. An attitude-based correction was proposed to compensate positioning measurements corrupted by the chassis inclination, thereby accurately acquiring the actual position of the sprayer. The RTK-GNSS positioning data was also utilized to calculate the actual minimum turning radius during the headland turn, particularly considering kinematic characteristics in fields with various soil conditions. A straight path also needed to be planned according to the turning radius, in order to ensure the explicit turning trajectory and accurate path tracking after finishing the headland turn. The reason was that the distance between adjacent working paths was considerably larger than that of the turning radius, where the working width was 12 m. An automatic calibration was introduced to determine the range of steering angle, steering angle in straight and heading measurement shift for the high-accuracy driving. The correction was also necessary to consider the installation of GNSS antennas and the potentiometer on different fixing locations with respect to the machine body. As such, a comprehensive validation was gained on the automatic operating mechanisms and CAN-bus network communication. A series of experiments were also conducted to evaluate the performance of newly-developed unmanned high-clearance sprayers under remote control and autonomous navigation, in terms of automatic operation in path tracking. The results showed that the maximum values were 20.81 and 8.84 cm under the remote control and autonomous navigation, with the average errors of 0.90 and 3.16 cm on the left, and the RMS errors of 2.66 and 1.08 cm, respectively, in terms of the lateral error, indicating that the executing mechanisms responded to operation commands in a stable and rapid way. The driving performance under autonomous navigation was much better than under remote control in agricultural spraying. |
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| Keywords: | agricultural machinery autonomous navigation high-clearance spraying machine inclination correction automatic control |
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