The Design And Research Of Automatic Driving Control System For Agricultural Machinery Based On ARM-Linux

In recent years,Document NO.1 of the Central Government has focused on “Agriculture,Countryside and Farmers”,and has explicitly proposed to increase investment in agricultural science and technology,develop modern agriculture and build the agriculture technique system of the entire IT application and mechanization centering on agricultural Internet of things(IOT)and agricultural intelligent equipment.The document takes “development,application and demonstration of great general character key technology(product)of intelligent agricultural machinery equipment” as support,and takes the leading of modem agriculture development as key research and development task.Based on satellite navigation system,automatic drive control technology for agricultural machinery is an important component of modern agriculture lean production,especially the Beidou Satellite Navigation System,researched and developed domestically and managed independently,was put into operation,which accelerate the popularization and application of satellite positioning technology in agricultural machinery navigation during driving.This paper determines automatic drive control technology for agricultural machinery as the research direction.It integrates satellite positioning,embedded hardware and software development,data communications,automatic control and other modern cutting-edge technology,and carries out holistic approach: theoretic analysis—software and hardware design system—control terminal research—practical assorted application.In the end,a set of automatic driving control system and terminal can be developed,which is a blend of locating and tracking,automatic drive,interface operation,remote communication,information storage and monitoring.This paper optimize and bring forth new ideas in some respects,such as the module design,information interaction,object-oriented Programming and GUI graphics development,technology applications and the like.The final test and test results show that the research of the subject is in accordance with the actual demand,and has a strong practical value.Firstly,the paper puts forward the research plan based on the topological form of navigation layer,communication layer,control layer and user layer,carries on the module optimization and innovation in the design thought,and carries on Modular design of Beidou high precision positioning,high performance controller,intelligent display terminal,automatic steering actuator.Module can work independently and expand easily.Secondly,hardware of the automatic control system of agricultural machinery based on ARM was determined.Altium Designer was used to design the hardware structure and peripheral circuit of each function module.Multisim simulation analysis was carried out on some circuits and interface information was completed by serial communication such as CAN and RS232.Then,the software development of agricultural automatic driving control system based on embedded Linux is proposed.The object-oriented programming and GUI structure with the help of cross-platform user development tool Qt are developed by using C++ language to carry out the development of high-level class management,human-computer interaction and data communication.Through the design flow of each module and the compiling of the main development program,the function of each module is realized and the overall control of the agricultural automatic driving system is achieved.Finally,the module unit test,flat road straight line control and field operation control test was carried out in triple experiment test.Based on the analysis of experimental data storage and field operation results,software and hardware design of the system is reasonable and effective,taking Dongfanghong tractor LX1204 as supporting platform.The function of the high precision positioning,automatic driving and interface operation of agricultural machinery can be realized.