Research Of Based On Ultrasonic Sensors Differentiating Obstacle System

Research digital agriculture research carrier vehicle is an important composing part of the digital agriculture research. It would give an impetus to the development of intellective and automatic agriculture machine. Hereinto, the differentiating obstacle system is necessary composing part of the digital agriculture research vehicle and would ensure the vehicle safely running in the course of its working. Differentiating obstacle system was designed in order to ensure the carrier vehicle to run safely on the track. It can in time discover the obstacle, which will do harm to the carrier vehicle, and it makes the carrier vehicle take some reciprocal measures and prevents the carrier vehicle colliding with obstacle. A way of detecting environment by ultrasonic wave was choosed, the type of detecting distance sensor was decided to use, the arrangements of the ultrasonic detect distance sensors and their special detecting mode was designed according to the particular structure and working situation of the digital agriculture research carrier vehicle. The system hardware is made up of ultrasonic sensors, PLC and other junctions. The ultrasonic sensor would be used to detect the environment and the PLC is the data collection and control station in the system. The PLC was be used to control the 8 couples ultrasonic detect distance sensor, deal with the data, send controlling signals and drive executive mechanism. The system will differentiate obstacle intellective and make the carrier vehicle avoid colliding automatic. The system software includes data collection module and data processing module. The data collection module is used to control sending ultrasonic signal, the opening and closing of I/O passageways. The data processing module is used to calculate the distance of obstacle, differentiate obstacle orientation and chose controlling order. The software was compiled with ladder diagram, which is a special compile language of PLC. Through the analog and test of part function, the ultrasonic detect distance system designed by us has detected the obstacles in the range of design's require. The differentiate obstacle system would ensure the carrier vehicle running safely and achieve the design requirement basically.