薛金林,卫瑶瑶,闫嘉,董淑娴,张凌峰.基于无线网络的拖拉机遥操作系统设计与试验[J].农业机械学报,2018,49(8):395-402.
XUE Jinlin,WEI Yaoyao,YAN Jia,DONG Shuxian,ZHANG Lingfeng.Design of Wireless Network for Tractors Based on Teleoperation System[J].Transactions of the Chinese Society for Agricultural Machinery,2018,49(8):395-402.
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基于无线网络的拖拉机遥操作系统设计与试验   [下载全文]
Design of Wireless Network for Tractors Based on Teleoperation System   [Download Pdf][in English]
投稿时间:2018-03-19  
DOI:10.6041/j.issn.1000-1298.2018.08.048
中文关键词:  拖拉机  遥操作  无线网络  用户界面  车载控制系统
基金项目:江苏省科技计划项目(BK20151436)
作者单位
薛金林 南京农业大学 
卫瑶瑶 南京农业大学 
闫嘉 南京农业大学 
董淑娴 南京农业大学 
张凌峰 南京农业大学 
中文摘要:为降低驾驶员的劳动强度以及改善其工作条件,设计了一套基于无线网络的拖拉机遥操作系统。首先提出了拖拉机遥操作系统总体设计方案,然后针对茂源MY250型拖拉机进行了执行机构改造,包括离合、制动、转向、油门、熄火执行机构以及启动控制,并设计了遥操作控制系统,包括用户界面与车载控制系统。最后进行了通信性能测试、执行功能测试与驾驶试验。结果表明,遥操作系统平均指令通信时延为0.074ms,视频时延最大不超过373ms,拖拉机各执行机构控制误差最大不超过2.21%,行驶速度为2.08km/h时,直线行驶最大误差绝对值不超过208.5mm,RMS误差最大不超过85.5mm。
XUE Jinlin  WEI Yaoyao  YAN Jia  DONG Shuxian  ZHANG Lingfeng
Nanjing Agricultural University,Nanjing Agricultural University,Nanjing Agricultural University,Nanjing Agricultural University and Nanjing Agricultural University
Key Words:tractor  teleoperation  wireless network  user interface  on-board control system
Abstract:To reduce the labor intensity and improve the working conditions for drivers, a teleoperation system was developed for tractors. First of all, a general design was expanded according to requirements that the teleoperation system should be achieved. Through wireless network communication, the tractor’s working environment can be transmitted with video to a teleoperation terminal where an operator was located, and the operator can send commands to drive tractor. Then a MY 250 tractor was refitted for remote steering, clutch, braking, throttle, shutdown and ignition by installing actuators such as motors and electric putters. In addition, a teleoperation control system was designed, including a user interface and an on board control system. Finally, tests were carried out to detect the system performances about communication, action and driving. Results demonstrated that the average communication delay was 0.074 ms, and the maximum video delay was 373ms for the teleoperation system, the maximum control error was 2.21% for all actuators, and the maximum absolute error was no more than 208.5mm when the tractor was driven along a straight line at speed of 2.08km/h by the teleoperation system, with a maximum root mean square (RMS) error of 85.5mm. This research can provide reference and solution for the development of agricultural machinery with teleoperation technology. 

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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