Development Of Remotely Operated Tractor Driving Robot System

In response to the demand for high-quality,efficient and precise operations of large-scale agricultural machinery operations on state-owned large-scale farms,a rear-mounted tractor driving robot with remote operation and autonomous navigation functions was studied,which can be installed in the tractor cab modularly,quickly and without damage,To achieve the intelligent upgrade of tractors,is conducive to improving the intelligent level of agricultural machinery and agricultural production efficiency.The main research contents and conclusions of this paper are as follows:(1)The mechanical structure design of the modular tractor driving robot.Based on the operating space and parameters of each actuator of the tractor,the Solidworks software is used to design the structure of the tractor driving robot,which mainly includes the steering module,the shift module,and the pedal control module.Control provides an experimental basis.(2)Design of measurement and control system for tractor driving robot.Mainly include steering manipulator measurement and control module,shift manipulator measurement and control module,pedal control measurement and control module,tractor obstacle avoidance measurement and control module,etc.,through the Lab VIEW tool to design the host computer software to achieve detection and control of each measurement and control system.(3)Research on time delay control method of tractor steering remote operation.Firstly,the communication delay law of tractor teleoperation is analyzed.Based on this,a time-delay control method of tractor steering teleoperation delay is proposed.The master-slave condition teleoperation control model and implementation method are studied to realize tractor steering teleoperation under random delay and reliable control.(4)Research on precise navigation technology based on multi-sensor information fusion.This paper studies a combined navigation method based on GPS/INS/Vision multi-sensor information fusion,and dynamically adjusts the sensor information fusion model parameters by judging the credibility of each sensor information to achieve high-precision navigation and positioning of the tractor when a single navigation sensor fails.Finally,the Changfa CFD504A model tractor was used as the test platform to verify the rationality of the tractor driving robot design and test the performance of the proposed remote operation and navigation control methods.The results show that the fuzzy PI algorithm based on time-stamp time delay measurement of tractor steering The teleoperation control algorithm has good tracking performance on roads with different damping moments.In the teleoperation test,the average and maximum tracking error of the tractor’s motion tracking trajectory and expected trajectory are not more than 10cm and 18cm,respectively,and the delay time range is 0 to 1000ms.The combined navigation test under the D-S-BPNN model tractor’s straight and curved driving navigation accuracy is within ±10cm error range,and the navigation effect is good.This paper combines the remote control technology of tractor driving robot and the multiple combined navigation and positioning technology to realize the remote steering control of the tractor and autonomous navigation with higher precision,which is conducive to the development of intelligent agricultural machinery technology.