基于无人驾驶的小麦密行精密播种机组的设计与试验

Design and test of driverless electric tractor implement combination for wheat precision seeding

为了实现小麦密植播种以及华北地区小麦玉米联作的农艺要求,将无人驾驶技术和精密播种技术相结合是最佳选择。本文设计了无人驾驶拖拉机以及精密播种机组,采用自动导航无人驾驶拖拉机为播种机提供动力,小麦播种机开沟盘采用“八密一稀”的排布方式。对小麦密植播种机关键部件进行了设计,对无人驾驶拖拉机动力系统的动力以及续航需求进行匹配。田间试验表明:选取的50 m的作业距离内整机作业横向最大偏差为2.1 cm,平均偏差0.094 cm,具有较好的直线行驶能力,在进行换行作业时相邻行程间邻接行距最大偏差1.5 cm,平均偏差为0.48 cm,能够满足换行作业时整机作业相邻幅宽行间距11 cm的作业需求。

The combination of automatic navigation technology and precision seeding technology is the best choice to achieve dense planting of wheat in spacing of 1~3cm as well as the agronomic requirements of continous cropping of wheat and corn in North China.In this paper,an automatic navigation driverless tractor and a planter were designed.The ditching plate of the wheat planter was arranged in eight denseness followed one dilution,and the driverless tractor with automatic navigation was used as the power provider whose key components were designed and matched for the power and endurance requirements.The Field experiments showed that the horizontal deviation was 0.094 cm(maximum 2.1 cm)within 50 meters machine homework,suggesting good skill in straight of the machine.The average spacing deviation of adjacent lines was 0.48 cm(maximum 1.5 cm),which satisfied the line spacing requirements(11cm)for continuous homework in newlines.