基于RTK-GPS的智能微耕机导航系统  

Automatic Navigation System of Micro Tillage Machine Based on RTK-GPS

作　　者：药林桃[1,2] 罗翔 曹晓林 吴罗发[1,2] 董力洪 陈立才[1,2] Yao Lintao;Luo Xiang;Cao Xiaolin;Wu Luofa;Dong Lihong;Chen Licai(Jiangxi Academy of Agricultural Sciences,Nanchang 330200,China;Jiangxi Province Engineering Research Center of Intelligent Machinery Equipment,Nanchang 330200,China)

机构地区：[1]江西省农业科学院农业工程研究所,南昌330200 [2]江西省智能农机装备工程研究中心,南昌330200

出　　处：《农机化研究》2021年第9期78-82,共5页Journal of Agricultural Mechanization Research

基　　金：国家重点研发计划项目(2017YFD0301605-02);江西省科技厅科技支撑项目(20171BBF60016,20192BBFL60035);江西省农机装备应用产业技术体系果业生产机械化专项(JXARS-21);江西省农业科研协同创新项目(JXXTCX201802)。

摘　　要：针对丘陵区田块小、不规则及耕作难等问题,设计了一种基于RTK-GPS的智能微耕机导航系统,并结合实际作业要求,基于梭形法提出了任意四边形田块路径规划算法,实现作业区域全覆盖路径规划。同时,阐述了导航系统整体设计方案。在机具作业过程中,通过RTK-GPS实时获取微耕机的位姿信息,实时校正机具作业偏差,通过将信号输入继电器,控制气动阀门,实现微耕机离合器的闭合,完成机具智能作业。田间试验结果表明:微耕机作业过程中,直线行驶时行驶路线与规划路线的横向偏差均值为2cm,拐弯时横向偏差较大,整体来讲路径规划合理。On questions to small irregularity and difficult tillage in hilly areas,a kind of automatic navigation system of Micro tillage machine based on RTK-GPS was designed.Combining with the actual operation requirements,the route-planning algorithm of trapezium was proposed based on the fusiform path method,to realize the full coverage path planning of the operation area.The overall design scheme of the navigation system was expounded.In the process of machine operation,RTK-GPS was used to obtain the position and attitude information of the micro tillage machine in real time,and the deviation of machine operation was corrected.the intelligent operation of the micro tillage machine was achieved by applying the working principle of pneumatic valve to control the clutch.Field experiments showed that when driving in a straight line the mean lateral deviation between the driving route and the planned route is 2cm,and when turning the lateral deviation is larger.Overall the overall path planning is reasonable.

关 键 词：微耕机 导航 RTK-GPS 路径规划 

分 类 号：S222.4[农业科学—农业机械化工程]