POSITION ERRORS IN SOWING IN CURVED AND RECTILINEAR ROUTES USING AUTOPILOT

ABSTRACT The use of automatic routing significantly increases the yield and quality of agricultural operations and reduces the overlap rates between the mechanized set passes during the operation. The objective of this study was to analyse the quality of peanut sowing using automatic routing in two paths, curved and rectilinear, based on the error of parallelism and execution error, through statistical process control. The maps used came from an area of peanut seed production, in the city of Luzitânia, São Paulo, Brazil. The sowing was carried out by the execution of a project elaborated in CAD software that, for its elaboration, was taken into consideration the working width of the seeder-fertilizer, as well as the spacing of the crop. The CenterPoint RTX signal was used on both routes. The errors were measured in the Agrocad® program, by means of the orthogonal difference between the lines, and the execution errors were calculated based on the difference between the previously projected lines and the lines executed by the tractor. In general, the sowing operation presented better quality in the rectilinear path, providing smaller parallelism and execution errors. The maximum errors of parallelism were 8.75 and 5.22 cm in the curved and rectilinear path, respectively. The RTX signal ensured good quality of operation in rectilinear path, with low probability of errors occurrence above 3.8 cm.

摘要 自动作业路径规划可显著提升农业作业的产量与质量，并降低农机作业幅次间的重叠率。本研究旨在基于平行度误差与执行误差，通过统计过程控制方法，分析曲线与直线两种路径下采用自动路径规划的花生播种作业质量。所用作业地图取自巴西圣保罗州卢齐塔尼亚市的一处花生种子生产田。播种作业依据计算机辅助设计（CAD）软件编制的作业方案实施，编制该方案时已综合考量播种施肥一体机的作业幅宽与作物行距。两种路径均采用了CenterPoint RTX定位信号。作业误差通过Agrocad®程序，以作业线间的正交偏差进行测算；执行误差则根据预先规划的作业线与拖拉机实际作业行驶线的差值计算得出。总体而言，直线路径下的播种作业质量更优，其平行度误差与执行误差均更小。曲线路径与直线路径的最大平行度误差分别为8.75 cm与5.22 cm。CenterPoint RTX定位信号可保障直线路径下的作业质量，误差超过3.8 cm的发生概率极低。