一种小型履带拖拉机自动导航系统的研究设计  

Research on Automatic Navigation System for Small Crawler Tractor

作　　者：李军辉[1] 张武斌[2] 高昌[1] Li Junhui;Zhang Wubin;Gao Chang(Beijing Vocational College of Agriculture,Beijing 102208,China;Beijing Agricultural Machinery Test and Appraisal Extension Station,Beijing 102208,China)

机构地区：[1]北京农业职业学院,北京102208 [2]北京市农业机械试验鉴定推广站,北京102208

出　　处：《农业技术与装备》2022年第3期27-29,共3页Agricultural Technology & Equipment

基　　金：北京农业职业学院科研项目(XY-YF-19-24)——自动导航技术在小型履带式拖拉机上的研究与实现。

摘　　要：文章研究了设计了一种小型履带拖拉机自动导航系统,该系统上位机采用基于PixHawk控制软件开源平台,作执行规划路径和行驶决策的主控制器,车辆路径规划和定位采用基于QGroundContro(l QGC)的app,用于设置车辆行驶任务,车辆的定位采用GPS双天线+实施载波相位差分技术(Real-time kinematic,RTK)定位;下位机采用基于STM32的清华智科控制模块QVC01作为导航车辆的控制单元。研制样车定位精度能够达到厘米级,控制策略采用了PID控制策略,控制精度能够满足果园生产的需要,车辆能够按照预定轨迹行驶。This paper studies and designs an automatic navigation system for small crawler tractor.The host computer of the system adopts the open source platform based on PixHawk control software,which is the main controller for executing the planning path.Vehicle path planning uses QGroundControl-based app for settings vehicles driving tasks.the positioning of the vehicle adopts GPS dual antenna+RTK positioning.The lower computer adopts the control module QVC01 based on STM32 as the control unit of the navigation vehicle.The controller can receive commands from the remote control and the unmanned driving module,and use the hydraulic control system to act on the joystick of the vehicle to control the vehicle.The positioning accuracy of the developed prototype can reach the centimeter level,and the control strategy adopts the PID control strategy.The control accuracy can meet the needs of orchard production,and the vehicle can follow a predetermined trajectory.

关 键 词：自动导航 履带拖拉机 RTK 

分 类 号：S219.2[农业科学—农业机械化工程]