GNSS平地作业路径实时规划与导航方法研究

Real-time Path Planning and Navigation in GNSS-controlled Land Leveling

为有效提高GNSS(Global navigation satellite system)控制土地平整的工作效率,提出了基于导航技术的GNSS平地作业路径实时规划与辅助决策方法。通过拉力传感器实现了平地作业中铲车载荷的实时检测,利用数学建模的方法,建立了拖拉机平地作业行驶过程的路径实时规划与导航模型。通过拉力传感器实时采集铲车载荷反馈值,根据拖拉机行驶目标区域的地势情况,以避免铲车过载和空载为原则,确定拖拉机的行驶目标点,解算出拖拉机行驶的转向角,实现了最优导航平地作业。农田平地试验结果分析表明,该方法能够较好地实时规划路径并提供导航方向,引导拖拉机高效地平地作业;基于该方法的平地作业,其铲车的过载或空载率总和不大于6.9%,远低于未使用导航时的平地情况。

GNSS-controlled( Global navigation satellite system) land leveling technology plays an important role in improving the landform of field surface,also in enhancing use efficiency of water and irrigation efficiency. Aiming at improving the working efficiency of GNSS-controlled land leveling system,the application of real-time intelligent navigation technology,which provided decision-making aid in land precise leveling,had explored. A tension sensor was added into this GNSS-controlled land leveling system to realize the load monitoring of the forklift. The model of real-time land planning and navigation during the time of land leveling was set up,using mathematical modeling methods. The destination point of tractor was calculated with the load data and the terrain around it,in the principle of reducing the times of overload and empty load situations. Therefore,the turning angle could be calculated to give the navigation information to the users. Farmlands experiments were taken in the end and it turned out that:firstly,this method could be used to guide the driving in the process of land leveling quite well.Secondly,within the same leveling time in these experiments,the leveling effects with land planning and navigation functions showed to be much better than those of without. Finally,the sum proportion of overload and empty load when the land planning and navigation functions worked was no more than6. 9%,much better than the situation of without these functions.