| 电机式北斗农机自动驾驶系统设计与试验 |
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| 引用本文： | 史扬杰,奚小波,吴飞,张瑞宏,金亦富,龚俊杰.电机式北斗农机自动驾驶系统设计与试验[J].东北农业大学学报,2019,50(4):88-96. |
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| 作者姓名： | 史扬杰 奚小波 吴飞 张瑞宏 金亦富 龚俊杰 |
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| 作者单位： | 扬州大学机械工程学院,江苏扬州,225127;扬州大学机械工程学院,江苏扬州225127;江苏省现代农机农艺融合技术工程中心,江苏扬州225127;无锡卡尔曼导航技术有限公司,江苏无锡,214000;扬州大学机械工程学院,江苏扬州225127;江苏省现代农机农艺融合技术工程中心,江苏扬州225127;南京沃杨机械科技有限公司,南京211200;扬州大学机械工程学院,江苏扬州225127;南京沃杨机械科技有限公司,南京211200 |
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| 基金项目： | 江苏省农业科技自主创新项目;江苏省重点研发计划;江苏省农机新装备新技术研发与推广项目;南京市科技计划 |
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| 摘 要： | 针对现有农机自动驾驶技术中存在机具匹配性和环境适应性问题,文章提出一种电机式北斗农机自动驾驶系统,介绍系统组成、工作过程和控制策略。创新设计同轴角位移测量装置,提高机具匹配性。创新提出GNSS/INS/车辆组合导航方法,降低对惯性测量单元精度要求,提高系统环境适应性。为降低驾驶员工作强度,设计人性化人机交互界面,使操纵更简洁。提出直线度精度和衔接行间距精度两项系统作业精度评价指标,0.5和2.5 m·s~(-1)两种不同行驶速度下,系统直线度精度分别为1.678和1.965 cm,衔接行间距精度分别为2.428和2.525 cm,基本符合Q/320200 YTZN 01—2018标准要求。该系统应用可有效提高作业质量,降低驾驶员工作强度,同时避免重复作业,提高土地利用率。
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| 关 键 词： | 北斗导航 自动驾驶 农业机械 设计 试验 |
Design and experimental study on automatic driving system of motor type agricultural machinery based on Beidou navigation |
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| Institution: | ,School of Mechanical Engineering, Yangzhou University,Jiangsu Engineering Center of Modern Agricultural Machinery and Agronomy Technology,Wuxi Kalman-Navigation Technology Co., Ltd.,Nanjing Woyang Machinery Technology Co., Ltd. |
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| Abstract: | To overcome the problems of machine matching and environmental adaptability existing in the automatic driving technology of agricultural machinery, this paper proposed an automatic driving system of motor type agricultural machinery, and introduced the system's composition, working process and control strategy. A coaxial angular displacement measuring device was innovatively designed, which improved the matching of machine tools. An innovative GNSS/INS/vehicle combination navigation method was proposed to reduce the accuracy requirement of inertial measurement unit and improve the environmental adaptability of the system. In order to reduce the working intensity of drivers,human-computer interaction interface was designed to make the manipulation more concise and clear.The indices of straightness accuracy and spacing accuracy of connecting lines were put forward to evaluate the system operating accuracy, and the experiments were carried out. The results showed that the straightness accuracy was 1.678 and 1.965 cm under the two different speeds of 0.5 and 2.5 m · s~(-1),and the accuracy of connecting line spacing was 2.428 and 2.525 cm. It basically met the requirements of Q/320200 YTZN 01-2018 standard. The application of the system can effectively improve the quality of work, reduce the driver's working intensity, avoid repetitive work and improve the land utilization rate. |
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| Keywords: | Beidou navigation automatic drive agricultural machinery design experiment |
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