Research On Autopilot And Unmanned Autonomous Operation System Of Paddy Field Plant Protection And Fertilization Equipment

Intelligent agricultural machinery represented by precision,automation and unmanned is the development direction of the world’s agricultural machinery and equipment,and it is an important means to improve the efficiency of agricultural operations and relieve the pressure on the labor force in the agricultural industry.However,in the field of rice planting,where unmanned operations such as plowing,direct seeding(transplanting),and harvesting have developed more maturely,the unmanned development of plant protection is relatively lagging because of its special operating environment and requirements.Therefore,research on paddy field plant protection machines with high precision,high adaptability and high intelligence has important academic significance and huge social and economic value.This paper aims at the practical problems faced by the automatic driving and variable operation of the paddy field plant protection machine,and aims to improve the automatic driving accuracy,line adaptability and variable operation accuracy of the plant protection machine in the harsh environment of the paddy field.In the design and transformation of automation,the key technologies and common issues involved are studied.The main contents are as follows:(1)Aiming at the problems of electric control and low degree of automation of the existing traditional paddy field plant protection machine driving and operation process,the design and realization of the automatic driving and intelligent operation platform of the paddy field plant protection machine are studied.The overall architecture design of the platform and the required underlying subsystems are studied,and the software and hardware schemes and implementations of the controller,positioning sensor system,action execution system and other subsystems are studied,which is the experimental verification of the algorithms related to automatic driving and variable operations.Lay the foundation.(2)Aiming at the problems of poor working environment of the paddy field plant protection machine,many interferences in the control process,and high control accuracy requirements,a four-wheel out-of-phase steering kinematics model of the plant protection machine is established;the research is based on the global dynamic sliding mode and fast power approach According to the Lyapunov criterion,the algorithm’s convergence and divergence were tested according to the Lyapunov criterion;the algorithm’s simulation model was established,the algorithm was simulated and the parameters in the algorithm were adjusted,and the simulation effects of different algorithms were compared;The algorithm is tested under the working conditions of high-quality pavement and paddy field.The absolute value of the maximum lateral deviation of straight-line tracking on hard pavement and paddy-field pavement is 0.0216 m and0.0778 m respectively,and the chattering phenomenon of the sliding mode algorithm is effectively suppressed..(3)Aiming at the problem of rice line bending and automatic Uturning in the process of plant protection operations,the line recognition and navigation algorithm based on the fusion of machine vision and positioning of the monocular camera was studied,and the problems of sudden heading angle and multi-frame misrecognition were investigated.The algorithm is optimized.The detection algorithm of the field ridge is studied on the basis of the identification and detection of the rice line.The experiment is carried out in the paddy field operation environment.The maximum absolute value of the tracking test is 0.0935 m,which improves the bending operation of the automatic driving operation of the plant protection machine.Line adaptability.(4)Aiming at the problems of multiple operating variables,low correlation and high precision requirements of paddy field plant protection variables,the multi-parameter variable operating control algorithm of paddy field plant protection machine was researched and designed,and the spraying flow variable,the spraying flow variable and the spraying width variable were studied respectively.The control models of three variable operations.After analyzing the characteristics of the models,the control of the three variable operations is combined,and the BP neural network PID algorithm is used for control.Simulation analysis and operation tests are carried out respectively,and the test results meet the control requirements.(5)In response to the complex functions of the plant protection machine,high communication requirements,and difficulty in inputting variable prescriptions,an on-board management system was developed on the basis of the main controller,and a multi-threaded mechanism was used to ensure the robustness of the control system,and the intuitive and easyto-use development was developed The vehicle-mounted interactive management interface;the remote control terminal interactive interface was developed to realize the whole process of unmanned operation of the plant protection machine;the communication method between the remote control terminal and the vehicle main controller was researched and the "heartbeat-response" mechanism was researched to ensure The safety of the unmanned operation process is studied;the input generation method of the variable operation prescription map is studied,the input process of the variable prescription is simplified,and the complete design research of the system is completed.