학술논문
农业运输车自动导航系统的设计及试验研究 / Design and Experimental Research of Automatic Navigation System for Agricultural Transport Vehicles
Document Type
Academic Journal
Source
农机化研究 / Journal of Agricultural Mechanization Research. 46(1):263-268
Subject
Language
Chinese
ISSN
1003-188X
Abstract
农业运输车在农业生产中承担着输送产品及运输物资的任务,目前其运输效率及路径计划主要依靠驾驶员的专业技能.农业运输车在进行田间谷物收获、合理调度及运输计划是保证农业运输车高效运行的重要因素,随着自动导航技术的逐渐应用及发展,实现农业运输车高效运输及路径规划具有重要意义.为此,创新研制了一种自主导航系统,将收获和运输问题视为一个带动态卫星的两级多行程车辆路径问题(2 E-MTVRPDS),并进行自动导航系统的路径规划、地头转弯、控制系统、卫星传输及人机交互界面设计,以实现农业运输设备的路径自主规划与移动.以谷物联合收获机及拖拉机为试验对象,研究结果表明:当拖拉机完成直线导航时,会自动执行适当的转弯模式,直线跟踪的横向误差不超过 6cm,直线跟踪最大横向均方根误差小于 5cm,表明提出的农业运输车自动导航系统在引导农用车辆田间工作时具有通用性和良好的工作性能,可以满足田间农业生产要求.
Agricultural transport vehicles undertake the task of conveying products machine transporting materials in agri-cultural production.At present,the efficiency and route planning of agricultural transport vehicles rely mainly on the pro-fessional skills of drivers.The agricultural transport vehicle is an important factor to ensure the efficient operation of the agricultural transport vehicle in the field grain harvesting,reasonable scheduling and transportation planning.With the gradual application and development of automatic navigation technology,it is important to realize efficient transportation and route planning of agricultural transport vehicles.This study innovates and develops an autonomous when-going sys-tem for agricultural transportation equipment,considers the harvesting and transportation problem as a two-stage multi-trip vehicle path problem with dynamic satellites(2E-MTVRPDS),and designs the path planning,ground turning,con-trol system,satellite transmission and human-computer interaction interface for the automatic navigation system of agri-cultural transportation vehicles to achieve autonomous path planning and movement of agricultural transportation equip-ment.This study investigates the performance of the designed autonomous navigation controller in guiding agricultural ve-hicles along a straight line and making turns in the ground,using a grain combine harvester and an agricultural tractor as experimental objects.The research results show that when the agricultural tractor completes the straight line navigation,it automatically performs the appropriate turning pattern,the lateral error of straight line tracking does not exceed 6 cm,re-spectively,and the maximum lateral root mean square error of straight line tracking is less than 5 cm,which proves that the automatic navigation system for agricultural transport vehicles proposed in this study has versatility and good working performance when guiding agricultural vehicles in the field and can meet the requirements of field agricultural production.
Agricultural transport vehicles undertake the task of conveying products machine transporting materials in agri-cultural production.At present,the efficiency and route planning of agricultural transport vehicles rely mainly on the pro-fessional skills of drivers.The agricultural transport vehicle is an important factor to ensure the efficient operation of the agricultural transport vehicle in the field grain harvesting,reasonable scheduling and transportation planning.With the gradual application and development of automatic navigation technology,it is important to realize efficient transportation and route planning of agricultural transport vehicles.This study innovates and develops an autonomous when-going sys-tem for agricultural transportation equipment,considers the harvesting and transportation problem as a two-stage multi-trip vehicle path problem with dynamic satellites(2E-MTVRPDS),and designs the path planning,ground turning,con-trol system,satellite transmission and human-computer interaction interface for the automatic navigation system of agri-cultural transportation vehicles to achieve autonomous path planning and movement of agricultural transportation equip-ment.This study investigates the performance of the designed autonomous navigation controller in guiding agricultural ve-hicles along a straight line and making turns in the ground,using a grain combine harvester and an agricultural tractor as experimental objects.The research results show that when the agricultural tractor completes the straight line navigation,it automatically performs the appropriate turning pattern,the lateral error of straight line tracking does not exceed 6 cm,re-spectively,and the maximum lateral root mean square error of straight line tracking is less than 5 cm,which proves that the automatic navigation system for agricultural transport vehicles proposed in this study has versatility and good working performance when guiding agricultural vehicles in the field and can meet the requirements of field agricultural production.