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XDNZ630型水稻插秧機(jī)GPS自動導(dǎo)航系統(tǒng)
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國家高技術(shù)研究計劃（863計劃）資助項目（2006AA10A305）和“十一五”國家科技支撐計劃資助項目（2009BAC55B01）


GPS Automatic Navigation System Design for XDNZ630 Rice Transplanter
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    摘要:

    以XDNZ630型水稻插秧機(jī)為試驗平臺，采用RTK-GPS定位技術(shù)，進(jìn)行農(nóng)業(yè)機(jī)械自動導(dǎo)航試驗。增加了插秧機(jī)轉(zhuǎn)向機(jī)構(gòu)、變速機(jī)構(gòu)和栽插機(jī)構(gòu)的電控功能，實現(xiàn)了自動控制。根據(jù)GPS接收機(jī)與車載傳感器獲取車輛姿態(tài)信息，采用PID控制方法，構(gòu)建轉(zhuǎn)向閉環(huán)控制系統(tǒng)，實現(xiàn)插秧機(jī)的自動對行導(dǎo)航及地頭轉(zhuǎn)向，并進(jìn)行了插秧機(jī)路面與田間導(dǎo)航跟蹤試驗。試驗結(jié)果表明，在插秧機(jī)對行導(dǎo)航作業(yè)中，車輛行進(jìn)速度不大于0.6m/s時，對行跟蹤誤差小于10cm，完全可以滿足插秧作業(yè)精度要求。

    Abstract:

    An automatic navigation system was developed on XDNZ630 rice transplanter using RTK-GPS technology. The steering mechanism, gear change mechanism and transplanting mechanism of the rice transplanter were modified from manual control system to electronic control system by using servo motors. According to the position information of the rice transplanter acquired from GPS receiver and vehicle sensors, the close-loop feedback control system of steering was built. The system can accurately control rice transplanter to follow row navigating and turn around at the end of the field by PID tracking method. The road and field experimental results indicated that the lateral tracking error could be kept within 10 cm when the speed of the rice transplant was not greater than 0.6 m/s. The control system can completely satisfy the precision requirement of rice transplanting. 

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偉利國,張權(quán),顏華,劉陽春. XDNZ630型水稻插秧機(jī)GPS自動導(dǎo)航系統(tǒng)[J].農(nóng)業(yè)機(jī)械學(xué)報,2011,42(7):186-190. Wei Liguo,Zhang Quan, Yan Hua, Liu Yangchun. GPS Automatic Navigation System Design for XDNZ630 Rice Transplanter[J]. Transactions of the Chinese Society for Agricultural Machinery,2011,42(7):186-190.

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