Research And Implementation Of Intelligent Wheat Precision Sowing System And Autonomous Navigation Mechanism

Wheat is the main food crop in China.This paper focuses on the current technical problems in the field of wheat planting,and conducts research on the electrical drive control of wheat seed drills,the establishment of intelligent systems,navigation and positioning mechanisms,and autonomous driving technologies.Through targeted research and exploration,it fundamentally breaks through the key technical bottlenecks of the domestic wheat precision seeding machine in mechanical component design and intelligent drive control,and effectively solves the unevenness of the broadcast during the wheat planting process.It aims to solve problems such as backwardness of the means and the inability of the labor force to liberate.As an on-the-job doctoral candidate,under the guidance of my tutor,the topic and research content combined with the actual situation of farming in China,the problem of sowing error caused by many factors such as unreasonable design of mechanical parts and difficulty in manually adjusting the amount of broadcast,inaccurate,rotary tiller and opener for wheat precision seeding machine,optimization and simulation design of mechanical key components such as seed metering and fertilizer discharger.At present,the domestic planter has no monitoring or monitoring means,the bad ground conditions cause the ground wheel to slip,the planter posture is unstable,etc.,and adopting the means of changing the driving mode,improving the tracking and monitoring method,and introducing the intelligent positioning and navigation mechanism to control the operation.In the process,the self-compensation and correction ability of the precision seeding machine is improved,which lays a foundation for realizing the whole process of intelligent wheat planting and completely liberating the labor force.The paper mainly includes four parts:design and simulation analysis of wheat fine-tuning mechanical system;intelligent wheat fine-tuning system model and real-time monitoring system;Electronically controlled driving replaces the ground wheel to complete the seeding and fertilization work,and establishes the intelligent system model of wheat fine seeding;intelligent wheat fine-flying prototype trial production and performance test;four-wheel steering fine-tuning machine autonomous driving technology research.The research work focuses on the following aspects:(1)Improvement design,simulation analysis and test of mechanical structure components.Solidworks is used to optimize the three-dimensional design of the key components of the existing wheat precision sowing machine,including rotary tiller,ditch opener,metering device,fertilizer applicator and copying mechanism,which provides a reliable basis for the trial-production of the later solid prototype.EDEM simulation platform is used to simulate the dynamic state of the fertilizer emission process,and to provide the solid of the metering and fertilization.The fabrication of the device provides reliable theoretical basis and original data support.(2)Electronically controlled driving replaces the ground wheel to complete the seeding and fertilization work,and establishes the intelligent system model of wheat fine seeding.The traditional precision sowing mode of wheel-driven sowing and fertilizer drainage was replaced by electric motors.This method is fully electronic controlled,and can realize adaptive precision seeding control,so as to avoid the phenomenon of missing seeding or uneven seeding due to wheel skidding.The motor drive source is the tractor's own 12V battery,which does not need to be outfitted.Control circuit information transmission wireless without complex lines,the installation location of each control unit is not limited by the space distance,at the same time,it is convenient for the disassembly and assembly of the seeder,flexible and convenient for application.MCGS configuration environment is used to build the upper computer control system,and data interaction with STM32F103C8T6 MCU,which is the core of the control system.PID control algorithm and PWM technology were used to design a closed-loop control loop,Tracking the forward speed of the traction machine,adjusting the motor speed of the seed-metering shaft and fertilizer-applying shaft in real time,can achieve the operation process.It guarantees the same sowing depth,constant plant spacing,stable fertilization and even distribution of wheat,and achieves the intelligent control effect of the whole sowing process.(3)Trial production and test of intelligent wheat fine sowing prototype.After the design is completed,the overall processing trial and test analysis of the wheat fine-slurry prototype is carried out to verify the reliability of the theoretical research in the practical application.Test is divided into two parts:the indoor test and the field test.The indoor test mainly tests the filling condition of the seeding device at different speeds of the seed shaft,the accuracy of the intelligent control system model,and the real-time effectiveness of the monitoring system.The field test is mainly for the complex fine machine body in the harsh environment of the field.Test and effect analysis were carried out on the quality,effect and stability of the control system.(4)Research on autonomous driving technology of four-wheel steering precision seeding machine.The laser motion recognition and multi-degree of freedom motion attitude control system integration technology is used to further enhance the adaptability and accuracy of the recognition system by acquiring different attitudes such as rotation and translation of the sensor in the three-dimensional space,so as to obtain the ridge quickly and accurately.The 3D data of the ground edge provides good environmental conditions and builds the best test platform.The pyramidal Lucas-Kanade algorithm is used to monitor the speed of the autonomous driving device,and the gray projection curve matching method is used as the precision compensation monitoring algorithm for four-wheel steering.The machine's autonomous navigation provides accurate direction information such as straight-field and ground turning,completing the dual functions of intelligent navigation and intelligent control,and truly achieves the intelligent control effect of wheat fine broadcasting.