Design And Research Of Unmaned Tractor Automatic Navigation Control System

To reform traditional agriculture by using high and new technology, improve the yield and quality of agriculture are of great significance for maintaining food security. This study combines BDS and GPS with traditional agricultural machine, developed the intelligent agricultural machine, which owned the independent intellectual property rights, and break the situation of foreign monopoly.The studying of intelligent agricultural machine control system is on the basis of the requirement of the enterprises, and according to the basic components of software and hardware, which including the basic functions of positioning, navigation, AB line setting, mode transformation, human-computer interaction software storage, etc. Gives the overall design of the hardware and software for the intelligent agricultural machine control system based on the high precision of GPS, GLONASS and BDS which were researched and developed by Sinan satellite navigation technology co., LTD. Based on the processor of Samsung S3C2440, combined with Linux embedded system, doing secondary development but does not change the original structure of the tractor. By installing the hydraulic system, angle sensor and other equipment on the tractor, using model car drive on the line to verify the feasib ility of the navigation system. Complete AB line setting and programming. Finally, doing testing experiment in the pavement, the result shows that the intelligent navigation system can perform basic agricultural work.The specific work of this research can be divided into the following sections:(1)First, introduced the current situation of agricultural development at domestic and foreign, and then point out the importance position and role of agriculture in national economy, because there is a big gap between home and abroad in precision agriculture and intelligent agricultural machine and other fields, points out necessities of the development of precision agriculture, and the meaning of developing the independent intelligent property rights of agricultura l machine system. At the same time, from the two aspects of agricultural machine navigation and control of agricultural machine in the domestic and overseas, this paper compares and analyzes data processing method and its existing problems are put forward.(2) Furthermore, introduced the principle of positioning and navigation of agricultural machinery. Give a detailed analysis from three aspects: such as the system components of satellite navigation and positioning, coordinate conversion principles and met hods, the basic principles of the base station and receiver.(3) Moreover, the overall design of intelligent control system. Include the hardware control system, the function of each module, the relevant device selection and the principle of work. Respectively, from the relevant module of controllers, input and output interface module, the angle sensor module carried out a detailed design. Shows a schematic view of an angle sensor installed in the model vehicle, and then tested the correspondence between the steering wheel angle and the current value of the model car.(4) Introduce mainly the basic principle, components and framework of the intelligent agricultural machinery control system software. Design the automatic walking control system software includ ing the Linux operating system, the system transplantation and root file, the QT user interface development environment for embedded, GPS signal collection based on ARM-Linux platform.(5)Finally, tested the unmanned tractor navigation control system. Tak ing practical and cost into consideration, install a complete set of hydraulic system(including oil tank, oil pump, motor, hydraulic proportional valve, steering controller, also known as a one-way valve, cylinder, etc.), add GNSS receiver designed by Si N a company, and MCGJ100A38 C HF type Angle sensor by the Beijing century Ming-chong. Complete the hardware simulation platform, and build an excellent simulation operation of the tractor. Through the test, we prove the accuracy of the navigation algorithm, the feasibility of the program. These basic researches lay a solid foundation for the deep researches.The practical test results show that the intelligent navigation system can complete basic operation demand of agricultural machinery; the system is excellent and has high application value.