履带式拖拉机可视遥控驾驶系统的设计及试验

Design and experiment of a visual remote control driving systemforcrawler tractor

为实现履带式拖拉机超视距遥控驾驶,以农夫小机灵502履带式拖拉机为平台,设计了一套拖拉机可视遥控驾驶系统。该系统主要包括中央处理器模块、2.4 G和433 M无线模块、全景视频拼接系统、液压及电动执行机构。操作者通过可视遥控器获取拖拉机的实时作业环境图像,并发送操作命令,实现遥控操作。为适应履带式拖拉机的作业环境,控制系统电路采用了抗震和抗干扰设计。在无同频电磁干扰、无杂草的旱田进行试验,可视遥控驾驶系统的遥控距离达150 m以上,视频传输稳定、无中断,直线行驶偏差小于0.2 m,转弯半径小于1.9m,能满足农机作业要求。

In order to remotely drive the crawler tractor beyond visual range, a visual remote control driving system was designed. The system is composed of the remote data acquisition module, 2.4 G and 433 M transmission module, panoramic video display system, hydraulic actuators and electric actuators drive module. Through the visual remote control system,, the operator can observe the the real-time image of the tractor in working environment, and then send control command to remote control the tractor. To meet the work conditions of the crawler tractor, a control circuit with good anti-interference and vibration resistance was used in the system. A field test was performed in the weed-free field without electromagnetic interference. The field test results showed that the distance of remote control is more than 150 m. The video transmission is stable and non-disruptive, and the deviation is less than 0.2m for straight driving. The turning radius is less than 1.9m. It is shown that the system can meet the operational requirements of agricultural machinery.