Design of a Teleoperation System for Combine Harvester based on ARM Embedded and CAN-Bus Technology

摘要

A teleoperation system for combine harvester based on ARM embedded and CAN-Bus technology was designed in this paper. The system was developed to control the combine automatically. Abundant working parameters of the combine and the video of the field are provided to operator so that the combine can be controlled more accurately. Furthermore, telecontrol of the combine can be carried out under extremely difficult conditions. The system consists of the onboard monitoring subsystem, wireless communication network and remote monitoring center, and it has two control modes which is local monitoring and remote monitoring. The onboard monitoring terminal and the control nodes constitute the onboard monitoring subsystem which puts ARM embedded system as its core, and the data between the nodes are transmitted by the CAN-Bus network. The operator grasps the working condition through the video and parameters showed on the man-machine interactive interface, then sends control orders directly to the combine in the local monitoring mode. In the remote monitoring mode, the whole video and parameters are transmitted to the remote monitoring center relying on 3G wireless network, and the combine is controlled only by the orders from the remote monitoring center. This paper focuses on the overall framework of the system, the hardware structure and software flow.