基于嵌入式PC和物联网的无人驾驶拖拉机研究.docVIP

基于嵌入式PC和物联网的无人驾驶拖拉机研究 殷玥 南阳理工学院软件学院 X 关注成功！ 加关注后您将方便地在 我的关注中得到本文献的被引频次变化的通知！ 新浪微博 腾讯微博 人人网 开心网 豆瓣网 网易微博 摘????要： 为了提高无人驾驶拖拉机大面积作业的自动化水平, 实现农业的精密化播种、收割等环节, 提出了一种基于PC嵌入式技术和物联网技术的新型无人驾驶拖拉机智能导航控制系统。以嵌入式PC处理器为核心, 结合Linux嵌入式系统和物联网技术, 设计了智能无人驾驶拖拉机的控制系统软硬件部分。基于PC技术, 对无人驾驶拖拉机的自主导航能力进行了测试, 测试结果表明:通过对多台无人驾驶拖拉机的协同作业能力进行测试, 无人驾驶拖拉机自主导航曲线和预设导航曲线吻合程度较高, 定位误差较小, 误差收敛速度较快。基于物联网技术, 对多台拖拉机的协同作业能力进行了测试, 测试结果表明:3台无人驾驶拖拉机的定位精度均较高, 都没有超过0.06m, 从而验证了物联网在无人驾驶拖拉机控制系统中使用的可行性。如果将其在大面积农业作业中进行推广, 将具有非常广阔的应用前景。 关键词： 拖拉机; 无人驾驶; 嵌入式PC; 自主导航; 协同作业; 物联网; 作者简介：殷玥 (1982-) , 女, 河南南阳人, 讲师, 硕士, (E-mail) ars1982@163.com。 收稿日期：2016-11-10 基金：河南省自然科学基金项目 (2015GZC155) Research on Unmanned Tractor Based on Embedded PC and Internet of Things Yin Yue School of Software, Nanyang Institute of Technology; Abstract： In order to improve the automation level of agricultural large-scale operations unmanned tractors, precision reaping and other aspects of the realization of agriculture, it put forward a new type of unmanned PC embedded technology and network technology based on intelligent navigation control system of tractor.Taking embedded PC processor as the core, combined with Linux embedded system and Internet of things technology, the hardware and software of the control system is designed.Based on the PC technology, the ability of autonomous navigation of unmanned tractors were tested.The test results indicated that the collaboration ability of multiple unmanned driving tractors were tested, unmanned autonomous navigation and navigation tractor curve preset curve fit degree is high, the positioning error is smaller, faster convergence speed error.Based on the IOT technology, collaboration ability of multiple tractors were tested.The test results indicated that the positioning accuracy of three unmanned tractors were higher, no more than 0.06 m, which verifies the things in the unmanned towing feasibility system used in machine control, if it is spread over a large area the agricultural work, which