Research And Development Of Field Self-Walking Trenching Robot Based On RTK Technology

Autonomous driving technology is an important guarantee for agricultural intelligence,and its use can effectively improve the accuracy and work efficiency of agricultural machinery operations.Aiming at the problem of automatic navigation of agricultural machinery in the field,this paper takes the trencher as the research object,based on the crawler mobile platform,and based on the global positioning system system of RTK(real-time dynamic differential technology)technology,and designs and implements the side rotary trenching mechanism and the automatic navigation system integration platform suitable for field operations.The positioning accuracy of the system was analyzed by dynamic and static accuracy simulation experiments and field tests.The main research contents are as follows:(1)Design and implementation of field trenching robot hardware system.According to the demand and environmental analysis of a grape planting base in Ningxia,the selection of the chassis of the tracked vehicle and the design and development of the hardware system were completed.A side rotary trenching device is designed and implemented,which is carried out by a crawler mobile platform equipped with a side trenching mechanism.:(2)Design and implementation of automatic navigation system.In view of the automatic navigation problem of agricultural machinery,this paper adopts the display screen,controller,RTK satellite positioning system and other modules to form an automatic navigation system,and each sub-module communicates data through the serial port.Among them,the display screen mainly displays the ground coordinates,real-time data of heading angle and realizes the function of path planning;As the control center,the controller uses keil uVision5 to write C language programs to realize data analysis,coordinate conversion,control algorithms and other functions;The RTK positioning system mainly uses GPS to receive real-time positioning signals of the trencher during operation.The application of agricultural machinery turning algorithm,RTS smoothing filtering technology and single-neuron PID controller improves the accuracy and stability of autonomous navigation control of agricultural machinery.(3)Mobile APP control system design and implementation.Aiming at the remote control of agricultural machinery and the problem of path planning,the mobile APP remote control system was developed.MQTT was selected as the remote control system communication protocol of the mobile APP,and the functional modules of the APP were developed through Baidu Map API,and the design of the mobile APP was completed.(4)Experimental results and analysis.Experimental tests were carried out on asphalt and field pavement environment,and the static and dynamic positioning accuracy of RTK positioning system satellite data was measured and the results after data conversion were analyzed.The experimental results show that the positioning accuracy of the positioning system is about 2 cm,which can meet the needs of the trencher field work.Finally,field experiments were carried out on asphalt pavement and field pavement.The maximum navigation error of asphalt pavement is 9.0 cm,the average deviation is 2.84 cm,the straightness is 3.51 S/cm,and the accuracy is2.98/cm;Field trials showed that the maximum tracking error,mean deviation,straightness accuracy and accuracy were 36.5 cm,6.12 cm,9.31 S/cm and 6.25/cm,respectively.It meets the accuracy requirements of the trencher field operation.The field automatic ditch robot based on RTK technology studied in this paper has great significance for improving farmers’ production efficiency,reducing labor intensity and realizing agricultural automation.