Studies On The Automatical Driving Systerm Of Transplanter Based On Double Laser Sources Location System

Presently, agricultural mechine becomes more and more precise and intellgent.On the base of transplanter named2ZG630A which produced in Zhuzhou, the unmanned controlling system of high speed transplanter which based on double laser sources location system was studied in this paper.There are six chapters in this paper, the research status at home and abroad were discussed in the beginning, then the common automatic driving system followed. Besides, the principle of double laser sources location system was introduced in the paper, then, the research purpose, significance and contents are also introduced in it.In the next charpter, the hardware of controlling platform was designed. And HST hydraulic transmission, actuator of steering mechanism, steering testing encoder and speed testing encoder are introduced in this paper. To realize the control of the actuator and collection of parameters of each sensor, the main controlling circuit based on485communication, the collection circuit of each sensor and controlling circuit of actuator are studied. Moreover, the wireless communication circuit of host computer to lower computer has been designed in the paper.From the perspective of controlling model, the controlling algorithms of every actuator of transplanter were studied. In addition, PID controlling algorithm based on fuzzy&self-adaptive was taken in controlling of HST transmission and pure fuzzy controlling algorithm in controlling of steering. Meanwhile, path&curvature advanced searching model based on path previewing strategy can provide the steering with reference, the federal data fusion was used for collection of sensor data, position estimating algorithm based on variable dimension Kalman filtering used for steering and speed controlling of transplanter. In the development environment of VisualBasic. NET2008, the unmanned driving navigation system of transplanter was independent developed, then wireless remote controlling and unmanned driving were also realized with all the algorithms inregating into host computer.Last, the effectiveness of controlling model was improved through experiments. According to the data, the highest controlling precision can be controlled under5cm, and the tracking for preconceived track was realized too. At the end of the paper, the suggestions for late research are given. And this can offer reference for further realizing the intelligence of transplanter.