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为了实现农田作业机械无人化自动作业,进一步减轻劳动力投入,基于Android平台设计了一种农田作业机械自动导航装置,该装置由机载控制模块、Android控制终端和差分全球定位系统(DGPS)基准站3部分构成。装置内嵌一种新型路径追踪算法。该算法通过邻域画圆寻找与规划路径交点,确定农田作业机械的趋近方向,可以极大地提高农田作业机械耕作控制精度。经大田试验验证,该装置具有精度高、成本低以及稳定性良好等优点。
In order to realize the unmanned automatic operation of farm machinery and further reduce the labor input, an automatic navigation device for farm machinery was designed based on the Android platform. The device was composed of on-board control module, Android control terminal and DGPS (Local Positioning System) Station 3 parts. The device embeds a new path-following algorithm. The algorithm looks for the intersection with the planned path through the neighborhood circle and determines the approaching direction of farm machinery, which can greatly improve the precision of farm machinery control. Field experiments proved that the device has the advantages of high precision, low cost and good stability.