Study On The Location System Based On Double Laser Transmitters Of Driverless

Pinpointing is one of the basical technologies to realize farming machine driving automatically and precision agriculture but also the important issue of the modern intelligent agricultural mechanical study. To develop a location system with low cost and high precision suitable for small-scale farming machine in south paddy field, the location system based on double laser transmitters was studied in this paper.Taking high speed transplanter as test platform and plane location data which comes from farming machine driving automatically as the goal, the technology of double laser sources location was raised in this paper through analysis and comparison on the base of analysing and summarizing the advanced research achievements home and abroad. In order to get the real-time coordinate of agricultural machinery in the operation process, this paper designs a location system about driving without man. When the distance and transmitting angle between two laser transmitters are known, the location coordinate of the shifting machine will be calculated in motion state.In the beginning, the current commonly used location theory was introduced in the paper, then followed the laser transmitting and receiving platform in this system. To make sure the system’s accuracy, this system rebuilt ultrasonic angle initialization system based on the principle of ultrasonic distance measurement.Next, the laser spot identification algorithm and the spot center boundary identification algorithm was discussed in the paper. That laser light spot was distinguished accurately and reliably is the basic work of the double laser sources location system. According the influence of the characteristic spot on positioning system and the laser spot characteristics of laser transmitter, arithmetic mean and median filtering algorithm was taken in multi-sampling data processing, and then, laser light spot center was estimated accurately when α-β filtering algorithm was taken during shifting. Experimentally verified that the position of the laser light spot can be obtained accurately because of this simple and reliable data processing method.Finally, this paper describes a laser target throw from the recovery program, there are two off-target situations of the machine suddenly acceleration or deceleration mainly for people and objects occlusion. In this paper, modeling two situations and ensure the program. Through the test, the program is fast and reliable.