拖拉机驾驶机器人设计及人机协作方法研究

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.

Research on human-computer cooperation method based on tractor driving robot

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.