电机式北斗农机自动驾驶系统设计与试验

Design and experimental study on automatic driving system of motor type agricultural machinery based on Beidou navigation

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。

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.