| Agricultural mechanization is the fundamental way of agricultural production,and the future of agricultural machinery is bound to the direction of intelligent development.Automatic navigation technology is one of the hot research topics in the intelligent field,and also an important mean to achieve precision agriculture.In this paper,the automatic navigation technology applicating to rice transplanters is studied.According to the characteristics that the operating condition of transplanter is relatively complex and high precision,the automatic GPS navigation technology of transplanter is studied deeply.The main research contents are as follows:(1)The rice transplanter is modified automatically.The John Deere GPS receiver and automatic steering wheel are installed in the well off the rice transplanter,and the installation platform and installation of institutions can be easily removed and quickly transplanted.At the same time,the throttle and stalls are modified to complete the throttle and gear automatic control design.(2)To build a rice transplanter automatic navigation system hardware platform.The hardware platform of automatic driving system of rice transplanter is set up based on the sensors such as GreenStar3000 RTK-GPS positioning system,ATU200 electric steering wheel,AHRS-3000 attitude sensor and MEMS gyroscope.Machine navigation provides the hardware foundation.(3)To develop the combined navigation algorithm.Firstly,the fuzzy control algorithm and the pure tracking algorithm are analyzed deeply.Then,a navigation control system based on combinatorial algorithm is designed according to the characteristics of the running path of paddy-field machine(including straight line and ground turn).Finally,I use Matlab / Simulink to build simulation block diagram to test whether the designed algorithm is effective or not.(4)Development of navigation system host computer software.Based on the Windows 7 operating system,in the Microsoft Visual Studio 2013 development environment,the host computer software is written in C # language.The software mainly has six functions,namely the data communication,the data acquisition,the predefined path planning,the control decision,the parameter demonstration as well as the data preservation output.(5)The experiment research of the rice transplanter automatic navigation system is carried out.Based on the self-designed automatic platform of the rice transplanter,the experiment of straight line and turn-by-turn navigation of cement pavement and the experiment of paddy field straight-line driving and transplanting are carried out respectively.The results are as follows: when the rice transplanter is driven on cement road at about 0.7m / s,the maximum lateral deviation is 10.8cm,the average value is 2.3cm,and the biggest lateral deviation occurrs during the turning process.When the rice transplanter travels in the paddy field at the same speed in a straight line,the maximum lateral deviation is 6.8 cm and the average value is 4.2 cm.This shows that the developed algorithm has the initial combination of straight lines and the first turn of the navigation capability. |
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