Research Of Pilotless Control System And Path Planning For Transplanters Based On GPS

In the context of the ever-changing science and technology era,in order to improve the competitiveness of agricultural production,the trend of replacing traditional manpower with automated agricultural machinery has taken shape.In rice transplanting,research on the transplanter pilotless control system can improve the quality and efficiency of rice production.Path planning is the premise of pilotless driving,and the two complement each other.Based on this topic,this paper studies the control system and path planning of GPS-based unmanned rice transplanter.The main research contents are as follows:(1)Design an electric steering wheel,and modify the position of the transplanter to determine the installation position and mode of the components of the driverless system,and realize the automatic modification of the transplanter.(2)Through the demand analysis,the high-precision Starfire 3000 user machine produced by John.Deere was used as the positioning sensor,and the data processing controller and steering system controller were designed.The communication between the various components of the system was realized by CAN bus,RS232 and other protocols.Built the transplanter unmanned hardware system.(3)The application method of fuzzy algorithm and PID algorithm in the unmanned control of rice transplanter is studied.The parameters of fuzzy algorithm and PID algorithm are determined and optimized,and combined into a combined algorithm,which is applied to linear path tracking of transplanter.In order to make up for the shortcomings of the combined algorithm on the turning path,the directional turning method is used to control the turning,and the advantages and disadvantages are verified by Simulink simulation.(4)Based on the research of agricultural machinery path planning,the grid method path planning and optimization method for transplanting machine operation is proposed for irregular complex boundary fields.The program of grid method path planning is designed and written based on Matlab platform.It solves the path planning and optimization problems of agricultural machinery in irregular complex boundary field operations,and provides a theoretical basis for the research of unmanned driving technology of rice transplanter.(5)The PZ-60 rice transplanter equipped with the unmanned control system designed in this study was used for linear path tracking test,S-type path tracking test and rectification test.The test results show that the control system of this study can realize the driverless function.The accuracy is relatively high.