插秧机自动导航控制系统的设计与研究
发布时间：2018-10-25 10:31
【摘要】：农业生产的根本出路在于农业机械化,而农业机械的未来必将是向智能化的方向发展。自动导航技术是当今智能化领域热门的研究课题之一,也是实现精准农业的重要手段。本文主要研究自动导航技术在水稻插秧机上的应用,根据插秧机作业的工况相对比较复杂且精度要求又高等特点,对插秧机GPS自动导航技术进行了深入的研究。主要研究的内容如下所示:(1)对插秧机进行了自动化改装。将约翰迪尔公司生产的GPS接收机和自动方向盘安装在井关插秧机上,所设计的安装平台及安装机构能够方便地拆卸和快速地移植。同时,将插秧机的油门和档位进行了改装,完成了对油门和档位的自动化控制设计。(2)搭建插秧机自动导航系统硬件平台。设计了基于STM32芯片的下位机导航控制器,结合GreenStar3000 RTK-GPS定位系统、ATU200电动方向盘、AHRS-3000姿态传感器和MEMS陀螺仪等传感器完成了插秧机自动驾驶系统硬件平台的搭建,为实现插秧机自动导航提供了硬件基础。(3)开发了组合式导航算法。首先深入分析了模糊控制算法与纯追踪算法。然后根据插秧机水田作业(包括直线和地头转弯)行驶路径的特点,设计了一种基于组合式算法的导航控制系统。最后利用Matlab/Simulink搭建仿真框图,检验所设计的算法是否有效。(4)开发导航系统上位机软件。基于Windows 7操作系统,在Microsoft Visual Studio2013开发环境下,使用C#语言编写了上位机软件。软件主要有六个功能,分别是数据通讯、数据采集、预定义路径规划、控制决策、参数显示以及数据保存输出等。(5)开展了插秧机自动导航系统试验研究。以自主设计的插秧机自动导航平台为基础,分别进行了水泥路面直线和转弯导航试验以及水田直线导航插秧试验。试验结果为:当插秧机以约0.7m/s的速度在水泥路面上自动转弯行驶时,横向偏差最大值为10.8cm,平均值为2.3cm。当插秧机以相同速度在水田中直线作业导航行驶时,横向偏差最大为6.8cm,平均值为4.2cm。达到了插秧机作业质量的要求。这说明所开发的组合算法已初步拥有了直线和地头转弯的导航能力。
[Abstract]:The basic outlet of agricultural production lies in agricultural mechanization, and the future of agricultural machinery will develop intelligently. Automatic navigation technology is one of the hot research topics in the field of intelligence, and it is also an important means to achieve precision agriculture. In this paper, the application of automatic navigation technology in rice transplanter is studied. According to the characteristics of the working condition of rice transplanter is relatively complex and the precision requirement is high, the GPS automatic navigation technology of rice transplanter is studied deeply. The main research contents are as follows: (1) the transplanter is refitted automatically. The GPS receiver and automatic steering wheel produced by John Deere are installed on the well door transplanter. The installation platform and installation mechanism can be easily removed and transplanted quickly. At the same time, the throttle and the gear of the transplanter are refitted, and the automatic control design of the throttle and the gear is completed. (2) the hardware platform of the automatic navigation system of the transplanter is built. The navigation controller based on STM32 chip is designed. The hardware platform of automatic driving system of rice transplanter is built with GreenStar3000 RTK-GPS positioning system, ATU200 electric steering wheel, AHRS-3000 attitude sensor and MEMS gyroscope. It provides the hardware foundation for automatic navigation of transplanter. (3) A combined navigation algorithm is developed. Firstly, fuzzy control algorithm and pure tracking algorithm are analyzed. Then a navigation control system based on combined algorithm is designed according to the characteristics of the path of paddy field operation (including straight line and ground turn) of rice transplanter. Finally, the simulation block diagram is built with Matlab/Simulink to verify whether the algorithm is effective. (4) the software of upper computer of navigation system is developed. Based on Windows 7 operating system and under the environment of Microsoft Visual Studio2013, the upper computer software is programmed with C # language. The software has six main functions, which are data communication, data acquisition, predefined path planning, control decision, parameter display and data saving and output. (5) the experimental research on automatic navigation system of transplanter is carried out. Based on the self-designed automatic navigation platform of transplanter, tests of straight line and turn navigation of cement pavement and transplanting seedling of paddy field were carried out respectively. The results showed that the maximum transverse deviation was 10.8 cm and the average value was 2.3 cm when the transplanter turned automatically on the cement pavement at the speed of about 0.7m/s. When the transplanter was navigated in a straight line at the same speed, the maximum transverse deviation was 6.8 cm and the average value was 4.2 cm. Meet the quality of transplanter operation requirements. This shows that the combined algorithm has the navigation ability of straight line and ground turn.
【学位授予单位】：浙江理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：S223.91
本文编号：2293447
[Abstract]:The basic outlet of agricultural production lies in agricultural mechanization, and the future of agricultural machinery will develop intelligently. Automatic navigation technology is one of the hot research topics in the field of intelligence, and it is also an important means to achieve precision agriculture. In this paper, the application of automatic navigation technology in rice transplanter is studied. According to the characteristics of the working condition of rice transplanter is relatively complex and the precision requirement is high, the GPS automatic navigation technology of rice transplanter is studied deeply. The main research contents are as follows: (1) the transplanter is refitted automatically. The GPS receiver and automatic steering wheel produced by John Deere are installed on the well door transplanter. The installation platform and installation mechanism can be easily removed and transplanted quickly. At the same time, the throttle and the gear of the transplanter are refitted, and the automatic control design of the throttle and the gear is completed. (2) the hardware platform of the automatic navigation system of the transplanter is built. The navigation controller based on STM32 chip is designed. The hardware platform of automatic driving system of rice transplanter is built with GreenStar3000 RTK-GPS positioning system, ATU200 electric steering wheel, AHRS-3000 attitude sensor and MEMS gyroscope. It provides the hardware foundation for automatic navigation of transplanter. (3) A combined navigation algorithm is developed. Firstly, fuzzy control algorithm and pure tracking algorithm are analyzed. Then a navigation control system based on combined algorithm is designed according to the characteristics of the path of paddy field operation (including straight line and ground turn) of rice transplanter. Finally, the simulation block diagram is built with Matlab/Simulink to verify whether the algorithm is effective. (4) the software of upper computer of navigation system is developed. Based on Windows 7 operating system and under the environment of Microsoft Visual Studio2013, the upper computer software is programmed with C # language. The software has six main functions, which are data communication, data acquisition, predefined path planning, control decision, parameter display and data saving and output. (5) the experimental research on automatic navigation system of transplanter is carried out. Based on the self-designed automatic navigation platform of transplanter, tests of straight line and turn navigation of cement pavement and transplanting seedling of paddy field were carried out respectively. The results showed that the maximum transverse deviation was 10.8 cm and the average value was 2.3 cm when the transplanter turned automatically on the cement pavement at the speed of about 0.7m/s. When the transplanter was navigated in a straight line at the same speed, the maximum transverse deviation was 6.8 cm and the average value was 4.2 cm. Meet the quality of transplanter operation requirements. This shows that the combined algorithm has the navigation ability of straight line and ground turn.
【学位授予单位】：浙江理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：S223.91
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