拖拉机自动驾驶监控系统软件设计

Software Design of Automatic Driving Monitoring System for Tractor

随着农业装备机械化、自动化水平的提高,推广和应用拖拉机自动驾驶技术,对提高大田耕作精度与效率,降低劳动强度具有重要意义。为此,基于Win CE嵌入式智能终端、多线程技术及CAN总线技术,在研究拖拉机自动驾驶工作原理的基础之上,设计了拖拉机自动驾驶监控软件系统,采用AB直线路径规划方法,能实时接收、显示和保存导航信息和控制拖拉机运行状态。试验测试结果表明:该系统运行稳定、通信可靠、系统实时性高,系统路径规划方法设计合理,接行相对测量误差的绝对平均值为9.7cm。

As the level of mechanization and automation of agricultural equipment improved, the promotion and applica-tion of tractor automatic driving technology is important to improve the working accuracy and efficiency and to reduce la-bor intensity.Based on WinCE embedded intelligent terminal, multithread technology,CAN bus technology and the prin-ciple of tractor automatic driving, the automatic driving monitoring software system for tractor was designed.The AB line path planning method was adopted in the system.This system can control the state of tractor,receive,display and save the navigation information in real-time.The experiment results showed that the system was running stably and reliably, and the real-time performance is high.The design of path planning method was reasonable, and the absolute average value for relative measurement error between two lines was 9.7cm.