期刊论文

Design and experiment of a visual remote control driving systemforcrawler tractor

中文

湖南农业大学学报(自然科学版)

1007-1032

2016

42

5

561-566

10.13331/j.cnki.jhau.2016.05.018

“十二·五”农村领域国家科技计划课题

本校为第一机构

为实现履带式拖拉机超视距遥控驾驶,以农夫小机灵502履带式拖拉机为平台,设计了一套拖拉机可视遥控驾驶系统。该系统主要包括中央处理器模块、2.4 G和433 M无线模块、全景视频拼接系统、液压及电动执行机构。操作者通过可视遥控器获取拖拉机的实时作业环境图像,并发送操作命令,实现遥控操作。为适应履带式拖拉机的作业环境,控制系统电路采用了抗震和抗干扰设计。在无同频电磁干扰、无杂草的旱田进行试验,可视遥控驾驶系统的遥控距离达150 m以上,视频传输稳定、无中断,直线行驶偏差小于0.2 m,转弯半径小于1.9 m,能满足农机作业要求。

In order to remotely drive the crawler tractor beyond visual range, a visual remote control driving system was designed. The system is composed of the remote data acquisition module, 2.4 G and 433 M transmission module, panoramic video display system, hydraulic actuators and electric actuators drive module. Through the visual remote control system,, the operator can observe the the real-time image of the tractor in working environment, and then send control command to remote control the tractor. To meet the work conditions of the crawler tractor, a control circuit with good anti-interference a...