拖拉机驾驶机器人设计及人机协作方法研究
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摘要
针对农用拖拉机智能化程度低,以及现有的人工智能水平尚无法完全实现自主驾驶控制拖拉机等问题,本文设计一种基于人机协作的拖拉机驾驶机器人.拖拉机驾驶机器人可以对拖拉机进行快速、无损、智能化升级,其结构由转向控制机械手、换挡机械手、旋耕机升降控制机械手和踏板控制机械腿等组成.通过研究人机协作的控制方法,提出了人机协作介入准则和基于转向电机电流反馈扭矩检测的人机协作模式切换方法,研制了原理样机验证拖拉机驾驶机器人的可行性和人机协作控制策略的有效性,对促进精准农业,提高现代农业智能化装备水平具有重要的现实意义.
According to the low intelligence level of agricultural tractors used nowadays,and the existing artificial intelligent technology can't satisfy the need of fully autonomous driving in the complicated field environment.Thisstudy designed a tractor-driving robot based on human-machine cooperation,which can upgrade a traditional tractor into an intelligent tractor nondestructively and rapidly.The driving robot structure consists of four parts:a steering control manipulator,shifting manipulator,rotary tiller lifting control manipulator,and pedal control mechanical leg.By studying the control method of human-machine cooperation,a human-machine cooperation intervention criterion is proposed,and a human-machine cooperation mode switching method is designed based on torque detection by steering motor current feedback.A human-machine cooperative control system and strategy was developed and evaluated in experiments.The performance of the tractor-driving robot and the effectiveness of human-machine cooperative control strategy have important practical significance for promoting precision agriculture and improving the intelligence level of modern agricultural equipment.
According to the low intelligence level of agricultural tractors used nowadays,and the existing artificial intelligent technology can't satisfy the need of fully autonomous driving in the complicated field environment.Thisstudy designed a tractor-driving robot based on human-machine cooperation,which can upgrade a traditional tractor into an intelligent tractor nondestructively and rapidly.The driving robot structure consists of four parts:a steering control manipulator,shifting manipulator,rotary tiller lifting control manipulator,and pedal control mechanical leg.By studying the control method of human-machine cooperation,a human-machine cooperation intervention criterion is proposed,and a human-machine cooperation mode switching method is designed based on torque detection by steering motor current feedback.A human-machine cooperative control system and strategy was developed and evaluated in experiments.The performance of the tractor-driving robot and the effectiveness of human-machine cooperative control strategy have important practical significance for promoting precision agriculture and improving the intelligence level of modern agricultural equipment.
引文
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[14] 梅士坤,鲁植雄,徐浩,等.拖拉机电液转向系统的变论域两级模糊PID控制研究[J].南京农业大学学报,2015,38(3):517-524MEI Shikun,LU Zhixiong,XU Hao,et al.Research on two-level fuzzy PID control of variable domain in tractor electro-hydraulic steering system[J].Journal of Nanjing Agricultural University,2015,38(3):517-524
[15] 陈浩,卢伟,赵贤林,等.基于力反馈的拖拉机驾驶机器人换挡机械手模糊PID自适应控制方法研究[J].南京农业大学学报,2016,39(1):166-174CHEN Hao,LU Wei,ZHAO Xianlin,et al.Research on fuzzy PID adaptive control method for shifting manipulator of tractor driving robot based on force feedback[J].Journal of Nanjing Agricultural University,2016,39(1):166-174
[16] 卢伟,陈浩,王玲,等.拖拉机驾驶机器人换挡机械手运动分析[J].农业机械学报,2016,47(1):37-44LU Wei,CHEN Hao,WANG Ling,et al.Analysis of the movement of the tractor driving robot shifting manipulator[J].Journal of Agricultural Machinery,2016,47(1):37-44
[17] 陈刚,张为公,龚宗洋,等.汽车试验用驾驶机器人系统的研究[J].测控技术,2009,28(7):38-40CHEN Gang,ZHANG Weigong,GONG Zongyang,et al.Research on driving robot system for automobile test[J].Measurement and Control Technology,2009,28(7):38-40
[18] 陈刚,张为公,龚宗洋,等.用于驾驶机器人的车速跟踪多机械手协调控制方法[J].中国机械工程,2010,21(6):651-655CHEN Gang,ZHANG Weigong,GONG Zongyang,et al.Vehicle speed tracking multi-manipulator coordinated control method for driving robot[J].China Mechanical Engineering,2010,21(6):651-655
[19] 陈刚,张为公,常思勤.汽车驾驶机器人模糊神经网络换挡控制方法[J].农业机械学报,2011,42(6):6-11CHEN Gang,ZHANG Weigong,CHANG Siqin.Fuzzy neural network shift control method for automobile driving robot[J].Journal of Agricultural Machinery,2011,42(6):6-11
[20] 梁海莎.基于人机工程学的拖拉机驾驶室设计研究[D].南京:南京农业大学,2012LIANG Haisha.Study tractor cab design based on ergonomics[D].Nanjing:Nanjing Agricultural University,2012
[21] 周浩,胡炼,罗锡文,等.旋耕机自动调平系统设计与试验[J].农业机械学报,2016,47(增刊1):117-123ZHOU Hao,HU Lian,LUO Xiwen,et al.Design and test of automatic leveling system for rotary tiller[J].Journal of Agricultural Machinery,2016,47(sup1):117-123
[22] 陈冠升,胥布工.目标跟踪LabVIEW监控软件的设计与实现[J].控制工程,2011,18(3):466-469CHEN Guansheng,XU Bugong.Design and implementation of target tracking LabVIEW monitoring software[J].Control engineering,2011,18(3):466-469
[23] Cao Y,Xu Z,Glenn T,et al.Ani-Bot:a mixed-reality modular robotics system[C]//Adjunct Publication of the,ACM Symposium on User Interface Software and Technology.ACM,2017:119-121
[24] Almali M N,Gür?am K,Bayram A.Wireless remote control of a mobile robot[J].International Journal of Scientific Research in Information Systems & Engineering,2017,1
[2] Wu X,Zhang Y,Zou T,et al.Coordinated path tracking of two vision-guided tractors for heavy-duty robotic vehicles[J].Robotics and Computer-Integrated Manufacturing,2018,53:93-107
[3] 伍广强.推进农业供给侧结构性改革,培育农业农村发展新动能:解读2017年中央一号文件[J].广东教育,2017(4):46-49WU Guangqiang.Promote the structural reform of the supply side of agriculture,and cultivate new kinetic energy for the development of agriculture and rural areas:interpretation of the 2017 Central Document No.1[J].Guangdong Education,2017(4):46-49
[4] 董胜,袁朝辉,谷超,等.基于多学科技术融合的智能农机控制平台研究综述[J].农业工程学报,2017,33(8):1-11 DONG Sheng,YUAN Chaohui,GU Chao,et al.A survey of research on intelligent agricultural machinery control platform based on multidisciplinary technology fusion[J].Journal of Agricultural Engineering,2017,33(8):1-11
[5] Zhang W,Wang Y G,Liu Y R,et al.Multivariable disturbance observer-based H2 analytical decoupling control design for multivariable systems[J].International Journal of Systems Science,2016,47(1):179-193
[6] 韩科立,朱忠祥,毛恩荣,等.基于最优控制的导航拖拉机速度与航向联合控制方法[J].农业机械学报,2013,44(2):165-170HAN Keli,ZHU Zhongxiang,MAO Enrong,et al.Joint control method for speed and heading of navigation tractor based on optimal control[J].Journal of Agricultural Machinery,2013,44(2):165-170
[7] Phuc D H,Rasincharoensak P,Masao N G.Study on driver model for hybrid truck based on driving simulator experimental results[J].IATSS Research,2018,42(1):18-23
[8] Zhang X Y,Gao H B,Guo M,et al.A study on key technologies of unmanned driving[J].CAAI Transactions on Intelligence Technology,2016,1(1):4-13
[9] 汪俊,陈刚,王纪伟.汽车驾驶机器人换挡机械手驱动力仿真优化[J].计算机仿真,2017,34(5):347-352WANG Jun,CHEN Gang,WANG Jiwei.Simulation and optimization of driving force of vehicle-driven robot shifting manipulator[J].Computer Simulation,2017,34(5):347-352
[10] Butzke J,Daniilidis K,Kushleyev A,et al.The University of Pennsylvania MAGIC 2010 multi-robot unmanned vehicle system[J].Journal of Field Robotics,2012,29(5):745-761
[11] 席志强,周志立,张明柱,等.拖拉机动力换挡变速器换挡特性与控制策略研究[J].农业机械学报,2016,47(11):350-357XI Zhiqiang,ZHOU Zhili,ZHANG Mingzhu,et al.Research on shifting characteristics and control strategy of tractor power shift transmission[J].Journal of Agricultural Machinery,2016,47(11):350-357
[12] 罗锡文,单鹏辉,张智刚,等.基于推杆电动机的拖拉机液压悬挂控制系统[J].农业机械学报,2015,46(10):1-6LUO Xiwen,SHAN Penghui,ZHANG Zhigang,et al.Tractor hydraulic suspension control system based on push rod motor[J].Journal of Agricultural Machinery,2015,46(10):1-6
[13] 高雷,胡静涛,李逃昌,等.以角速度为转向动作反馈的拖拉机自动导航控制系统[J].农机化研究,2015(3):25-29GAO Lei,HU Jingtao,LI Taochang,et al.Tractor automatic navigation control system with angular velocity as steering action feedback[J].Agricultural Mechanization Research,2015(3):25-29
[14] 梅士坤,鲁植雄,徐浩,等.拖拉机电液转向系统的变论域两级模糊PID控制研究[J].南京农业大学学报,2015,38(3):517-524MEI Shikun,LU Zhixiong,XU Hao,et al.Research on two-level fuzzy PID control of variable domain in tractor electro-hydraulic steering system[J].Journal of Nanjing Agricultural University,2015,38(3):517-524
[15] 陈浩,卢伟,赵贤林,等.基于力反馈的拖拉机驾驶机器人换挡机械手模糊PID自适应控制方法研究[J].南京农业大学学报,2016,39(1):166-174CHEN Hao,LU Wei,ZHAO Xianlin,et al.Research on fuzzy PID adaptive control method for shifting manipulator of tractor driving robot based on force feedback[J].Journal of Nanjing Agricultural University,2016,39(1):166-174
[16] 卢伟,陈浩,王玲,等.拖拉机驾驶机器人换挡机械手运动分析[J].农业机械学报,2016,47(1):37-44LU Wei,CHEN Hao,WANG Ling,et al.Analysis of the movement of the tractor driving robot shifting manipulator[J].Journal of Agricultural Machinery,2016,47(1):37-44
[17] 陈刚,张为公,龚宗洋,等.汽车试验用驾驶机器人系统的研究[J].测控技术,2009,28(7):38-40CHEN Gang,ZHANG Weigong,GONG Zongyang,et al.Research on driving robot system for automobile test[J].Measurement and Control Technology,2009,28(7):38-40
[18] 陈刚,张为公,龚宗洋,等.用于驾驶机器人的车速跟踪多机械手协调控制方法[J].中国机械工程,2010,21(6):651-655CHEN Gang,ZHANG Weigong,GONG Zongyang,et al.Vehicle speed tracking multi-manipulator coordinated control method for driving robot[J].China Mechanical Engineering,2010,21(6):651-655
[19] 陈刚,张为公,常思勤.汽车驾驶机器人模糊神经网络换挡控制方法[J].农业机械学报,2011,42(6):6-11CHEN Gang,ZHANG Weigong,CHANG Siqin.Fuzzy neural network shift control method for automobile driving robot[J].Journal of Agricultural Machinery,2011,42(6):6-11
[20] 梁海莎.基于人机工程学的拖拉机驾驶室设计研究[D].南京:南京农业大学,2012LIANG Haisha.Study tractor cab design based on ergonomics[D].Nanjing:Nanjing Agricultural University,2012
[21] 周浩,胡炼,罗锡文,等.旋耕机自动调平系统设计与试验[J].农业机械学报,2016,47(增刊1):117-123ZHOU Hao,HU Lian,LUO Xiwen,et al.Design and test of automatic leveling system for rotary tiller[J].Journal of Agricultural Machinery,2016,47(sup1):117-123
[22] 陈冠升,胥布工.目标跟踪LabVIEW监控软件的设计与实现[J].控制工程,2011,18(3):466-469CHEN Guansheng,XU Bugong.Design and implementation of target tracking LabVIEW monitoring software[J].Control engineering,2011,18(3):466-469
[23] Cao Y,Xu Z,Glenn T,et al.Ani-Bot:a mixed-reality modular robotics system[C]//Adjunct Publication of the,ACM Symposium on User Interface Software and Technology.ACM,2017:119-121
[24] Almali M N,Gür?am K,Bayram A.Wireless remote control of a mobile robot[J].International Journal of Scientific Research in Information Systems & Engineering,2017,1
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