| Among the ten key areas of Made in China 2025 include agricultural machinery and equipment,and driverless technology plays an important role in intelligent agricultural machinery and equipment.Unmanned agricultural machinery technology can maximize the use of land to increase crop yield,reduce labor costs and reduce labor intensity,unmanned products are in the stage of research and experiment,has not been widely promoted.In order to achieve the above objectives,this paper took the rice transplanter as the test platform for hardware modification,studied the path tracking control algorithm,developed the interaction software of the upper computer,and studied the key technologies of unmanned rice transplanter.The main research contents are as follows:（1）The Jingguan PZ60 high-speed rice transplanter was transformed.Install a satellite signal receiver on the rice transplanter,and design a navigation and positioning system based on RTK-BDS navigation and positioning technology;replace the original steering wheel of the rice transplanter with an electric steering wheel;in order to obtain the current front wheel angle,install a rotation angle sensor on the front wheel;in order to solve the problem in the work process Due to the inclination of the rice transplanter body caused by the external environment,install the inclination sensor.（2）Aiming at the low accuracy of unmanned path tracking,this paper proposes an improved pure tracking algorithm and adaptive model predictive control algorithm segmented use of unmanned path tracking control algorithm for rice transplanters.The kinematic model of the rice transplanter was established,and the traditional pure tracking algorithm was improved by using fuzzy control to realize the dynamic adjustment of the foresight distance.The Simulink simulation model was built,and the simulation results show that the path tracking controller designed in this paper has a small overshoot and a fast convergence speed,and the simulation effect was good.The maximum lateral deviation of the straight section is 1.1 cm,and the maximum lateral deviation of the turning section is 2.7 cm.（3）In view of the complex problem of unmanned human-computer interaction,this paper designs a simple human-computer interaction software in the Visual Studio 2019 environment.The serial port module of the Cserial Port serial port class is developed for the acquisition of satellite navigation information and front wheel angle information.The CAN module was developed by using the PCAN-Basic secondary programming interface,which was used to receive the inclination sensor information and send and receive control messages to the lower computer.The geographic location information of the plot was obtained through Gaussian transformation,the operation path was planned according to the operation mode,the electronic map was drawn and the control sequence of the path tracking algorithm is established.Finally,the database was established for use in Visual Studio 2019,and each module was integrated to realize the display of the user operation management interface.（4）Based on the transformation test platform,the reliability test of the unmanned system of the rice transplanter is carried out.The test results show that the maximum lateral deviation of the straight line section of the cement floor was 2.8 cm,the average lateral deviation was 1.6cm,the maximum lateral deviation of the turning section was 3.1 cm,and the average lateral deviation was 2.1 cm.The maximum lateral deviation in the straight section of the paddy field was 2.8 cm,the average lateral deviation was 2.1 cm,the maximum lateral deviation in the turning section was 4.1 cm,and the average lateral deviation was 2.6 cm.The maximum oscillation occurs in the turning section.Small,the system runs stably and reliably. |
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