| Farmers operate agricultural machinery directly, often have to endure harsh operating environment, such as dust, mechanical vibration, noise, chemical sprays and other damage. It is extremely unfavorable to health. In order to develop a remote control system which suitable in greenhouses, mountain cliffs, fruit trees, and other wait and low, steep, complex environment instead of manned remote control system, a panoramic video remote control systems was introduced after comprehensive analysising the domestic and international research. Though the four cameras recording the real time work environment images which are installed around the tractor, and the real time images are transmited to the operator's visual display of the remote control though 2.4G wireless after compressing correcting and forming the 360-degree panoramic images.In the research, the test platform is based on Nongfu 502 crawler tractor. Firstly, base on the work environmental characteristics and artificial driving habits the paper design some basic principles of panoramic video remote control system and crawler tractor platform's operating actuators was being automatic reformed. To meet the harsh operating environment, the system hardware design added seismic, anti-jamming design. In order to solve the steering overshoots which caused by control signal delay, a lead-lag control algorithm was being used in the system combines remote operation data trends. To reduce the labor intensity and improve efficiency, simplify remote operation, a local autonomous control method was used in the straight running, and combined with ergonomic, a comfortable operating panel was designed. By experiment, the remote control system is very useful in the panoramic image panoramic video splicing experiments, but there is some distortion of the display, so the remote operation should pay attention to keep a safe distance. |
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