Authors

Abstract

Aiming at the adaptability and safety problems of agricultural machinery in hilly and mountainous areas, the remote driving control system of agricultural full hydraulic chassis is designed based on ARM-Linux platform. The whole remote driving system is composed of Web upper computer, server system and chassis drive system. According to the requirements of chassis operation, the STM32F407 is used as the lower computer to realize the running control and motion status monitoring of the chassis. Taking the I.MX6ULL as the hardware platform, the Linux as the software platform, and 4G communications as the Web Server, the remote driving of the chassis is realized through Web pages on the computer. It can be seen from the test results that the minimum RTT delay from the Web page driving to the lower computer is 170 ms; the maximum RTT delay is 1310 ms, and the average RTT delay is 222.75 ms. The real-time interactivity of the control system meets the needs of remote driving of the agricultural machinery. The research provides a theoretical basis and technical reference for the development of the remote driving system of the agricultural machinery.

Abstract in Chinese

针对丘陵山区农机具作业适应性、安全性存在的问题，基于ARM-Linux平台设计了农用全液压底盘的远程驾驶控制系统。整个远程驾驶系统由Web上位机、服务器系统和底盘驱动系统组成。根据底盘作业需求，以STM32F407为下位机，实现底盘的行走控制和运行状态监测；以 I.MX6ULL为硬件平台、以Linux为软件平台、基于4G通信搭建Web服务器，实现在计算机上通过Web网页远程驾驶底盘。由测试结果可知，Web网页驾驶端到下位机的最小RTT延时为170ms，最大RTT延时为1310ms，平均RTT延时为222.75ms，控制系统的实时交互性满足远程驾驶农机具的需要，研究为农用底盘远程驾驶系统的开发提供了理论依据与技术参考。