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为实现水稻直播机精量播种和无人驾驶的要求,基于北斗高精度差分定位系统,设计了水稻直播机自主驾驶系统。系统基于ARM嵌入式平台,由CAN总线驱动电机模块、油门电动推杆模块、北斗GNSS接收机模块、角度传感器模块、倾角传感器模块、平板人机交互模块和蓝牙通信模块构成。针对水田播种作业模式,建立拖拉机数学模型,应用轨迹跟踪算法,实现直线跟踪。实验测试表明,该农机自主驾驶系统能够满足水田无人驾驶播种精度要求。
In order to realize the precision seed sowing and unmanned demand of rice direct seeding machine, an autonomous driving system of rice direct seeding machine was designed based on Beidou high precision differential positioning system. The system is based on ARM embedded platform and is composed of CAN bus drive motor module, throttle electric push rod module, Beidou GNSS receiver module, angle sensor module, tilt sensor module, tablet human-computer interaction module and Bluetooth communication module. According to the planting pattern of paddy field, a tractor mathematical model is established and the trajectory tracking algorithm is applied to realize the straight line tracking. Experimental tests show that the autonomous driving system can meet the requirements of unmanned sowing precision in paddy fields.