Research On Unmanned Rice And Intelligent Working System Of Rice Direct Seeding Machine

Agricultural machinery equipment is one of the ten key areas in the "Made in China 2025" strategic mission that needs to be vigorously promoted.Among them,unmanned driving and intelligent operation of agricultural machinery are important directions for the development of agricultural machinery equipment.In this paper,a traditional rice direct broadcast machine is used as a basic experimental platform to realize the unmanned driving and intelligent operation system of the direct broadcast machine.The intelligent transformation plan of the direct broadcast machine,the full coverage path planning of the paddy field,the path tracking control,and the remote user terminal are studied.The main research contents are as follows:(1)Construction of unmanned and intelligent operating hardware system based on traditional rice direct seeding machine.Developed and implemented a high-precision positioning and navigation system solution suitable for the paddy field operating environment.The steering system,speed control system,and seeding operation system of the traditional rice direct seeding machine were automatically upgraded,and a long-range wireless communication solution was realized;(2)The method of full coverage path planning of paddy field is studied.According to the actual paddy field environment and the characteristics of the direct broadcast machine operation,the characteristics and key parameters of the line-wrap method were studied,the basis for the selection of the line-wrap method was given,the improved shuttle method was proposed.In the paddy field traversal method,an operation direction selection algorithm combining the optimization goals of operation quality and operation efficiency is proposed,and the superiority of the method is verified by simulation experiments;(3)Aiming at the problems that the paddy field operating environment is relatively complicated and the rice seeding operation requires high seeding quality,a path tracking control algorithm and a speed control algorithm are studied.Aiming at the problem that the path tracking control algorithm may be unstable when the driving speed is fast,a path tracking algorithm that can achieve stable control under different speed conditions is researched to improve the robustness of the algorithm.The experimental results show that Under the three different speed conditions,the proposed algorithm can maintain stability,the average absolute error does not exceed 0.023 m,and the maximum absolute error does not exceed 0.118m;under the premise of ensuring the quality of the operation,in order to improve the operation efficiency as much as possible,the research based on The speed control method based on fuzzy control.The experimental results of farmland operations show that when the average driving speed is 1.18 m / s,the average absolute deviation is only 0.044 m,and the comprehensive performance is good;(4)The functional requirements and system implementation of the remote user terminal and cloud management platform are studied.Researched the functional requirements of the remote user terminal,designed its overall architecture,and realized key functions such as reliable remote data communication,parameter setting,job control,and job monitoring;in view of the lack of data sharing and security in the single-machine storage mode,The realization of cloud management platform scheme for multi-machine data storage is studied.