履带收获机自动驾驶系统设计与作业效率分析

Design and Operational Efficiency Analysis of Auto Drive System for Crawler Harvester

摘要:

针对履带式收获机自动驾驶作业地头转弯无效作业路径长、地头重复碾压,导致作业效率低与通过性差问题,本文提出一种内回字型路径规划与地头快速转弯换行的自动驾驶收获方法。 设计内回字型全局覆盖路径,实现常见凸四边形地块的连续满幅收获;建立履带差速运动学模型,采用预瞄追踪路径跟踪控制方法,结合双泵双马达独立控制左右履带底盘,实现履带收获机的直线导航控制;提出了一种高效地头转弯换行策略,实现较小地头空间快速转弯并精确对准下一作业行;分析了本文路径和转弯方法的作业效率优势。 田间试验表明,直线导航横向偏差标准差平均值为 3. 7 cm、航向偏差标准差平均值为 0. 9°;地头转弯换行时间平均为 10. 4 s,转弯换行结束初始对行位置偏差平均为 10. 3 cm、初始航向偏差平均为 3. 0°,验证了该方法地块全程自动驾驶的有效性。 结果表明, 该方法能够减小地头转弯非作业时间并避免地头重复碾压,提高履带机自动驾驶系统的作业效率和实用性。

Abstract:

Addressing the issues of ineffective operation paths due to long turning paths at the field ends and repeated compaction at the field ends in the auto drive system of crawler harvesters, leading to low operation efficiency and poor trafficability, an auto drive harvesting method featuring an inner-looped path planning and rapid turning at field ends for line changes was proposed. An inner-looped global coverage path was designed to achieve continuous full-width harvesting of common convex quadrilateral plots. A kinematic model for differential speed movement of the crawler was established, and a preview tracking path following control method was adopted, combined with independent control of the left and right crawler chassis using dual pumps and dual motors, to achieve linear navigation control of the crawler harvester. An efficient strategy for turning and changing lines at field ends was proposed, enabling rapid turning in small field spaces and precise alignment with the next operation line. The operational efficiency advantages of the proposed path and turning methods were analyzed. Field tests showed that the average standard deviation of lateral deviation during linear navigation was 3. 7 cm, and the average standard deviation of heading deviation was 0. 9°; the average time for turning and changing lines at field ends was 10. 4 s, with an average initial alignment position deviation of 10. 3 cm and an average initial heading deviation of 3. 0° upon completion of the turning and changing lines, verifying the effectiveness of the method for full-field auto drive. The results indicated that this method can reduce non-operating time during field end turns and avoid repeated compaction at field ends, enhancing the operational efficiency and practicality of the auto drive system of crawler harvesters.