Research On Field Path Planning And Agricultural Machinery Operation Control Method Based On Beidou

The research of field path planning and agricultural machinery operation control method is an important part of realizing autonomous and unmanned intelligent agriculture,and also one of the important ways to improve the efficiency of agricultural machinery operation.The operation direction of agricultural machinery is restricted by the shape of plot,so it is worth studying to plan the operation path reasonably and control the operation of agricultural machinery under different movement state.The main contents of the work are as follows:Study on path planning method of convex polygon field work,using parallel to the long side of the ridge line and Π/T type boustrophedon method combination field work path.For the convex polygon field block,this paper uses the shortest path as the criterion to carry out the field work path planning,the choice of the direction of ridge line work analysis from parallel to the convex polygon boundary of field direction,analysis of the work path of the shortest path from the turn end turn different work mode,complete the design of field work path way.The position and attitude algorithm method of agricultural machinery is studied.Analyze the cause of the error of in the received Beidou data.In this paper,the Kalman filter is used to eliminate the random error of the Beidou data after the Gauss projection.The simulation results show that the data after the Kalman filter is close to the reference value.Comparing and analyzing the Euler angle and quaternion,for this paper,the quaternion is used to determine the angle deviation calculation suitable for the agricultural machinery.The hardware platform for position and attitude acquisition and operation control of agricultural machinery is constructed.The Beidou positioning module and attitude sensor are selected and debugged.Taking the position offset and the angle deviation as input and adjusting angle as output,the fuzzy control method of agricultural machinery operation direction is studied.The fuzzy control rules are established and the controller is designed by simulation.Select a convex pentagonal field block,and obtain the vertex coordinates of the field,and parallel to the ridge direction straight line work simulation experiment of different edges by using ARCMAP software.The work path length and efficiency of different combinations are calculated under the different amplitudes of the work robot.Experiments show that combine parallel to the long side of the ridge line work direction and Π/T type boustrophedon method turning path,can get the shortest path and the highest field work efficiency,superior to other field work path combinations.