Design And Experimental Research Of Remote Driving Control System For Agricultural Machinery Equipment

In 2020,my country’s comprehensive crop cultivation and harvesting mechanization rate has reached 71%,and agricultural machinery has been widely used.However,the working mode of agricultural machinery drivers directly operating agricultural machinery on site also leads to the development of agricultural mechanization in China,which is faced with the shortage of professional operators,long working hours,high labor intensity,poor working environment and other problems.This paper proposes a remote driving control system for agricultural machinery equipment based on the above actual conditions.Based on the research status of domestic and foreign related research and the key technologies to realize system functions,the system is designed and tested as a whole.The main research work and results completed are summarized as follows:1)Data communication system.In order to realize the fast data transmission between the remote driving side and the remote vehicle side,this paper proposes two high-throughput and low-latency data transmission methods based on 5G network or based on gigabit fiber and wireless transceiver terminal.The characteristics,advantages and implementation methods of the scheme have determined a data communication system design scheme with wireless communication as the mainstay and wired communication scheme as the supplement.2)Analysis of driving instructions on the remote driving side.Using the USB interface data packet capture technology to successfully capture the output data of the driving simulator,and clarify the law of the output data of the driving simulator.The next step is to use the USB interface data transmission technology to successfully read the driving simulator that can be used for driving instruction analysis Output data,design a corresponding analysis program and successfully parse out the control commands used to control remote agricultural machinery equipment.3)Remote vehicle side vehicle working condition monitoring and attitude perception.In order to provide drivers with vehicle operating conditions,cameras and on-board sensors are used to obtain vehicle operating conditions;by analyzing and comparing the pros and cons of commonly used vehicle attitude calculation methods,it is determined that the quaternion method is used as the vehicle attitude calculation algorithm,and the hardware MPU6050 is used.The design of the corresponding program successfully solved the vehicle attitude.4)System function test.By configuring the system working environment,downloading the corresponding control program to the hardware facilities,connecting the system hardware facilities,and performing system function verification tests.Through the analysis of the obtained test data,it is concluded that the system has basically achieved the expected function.