Optimization Design Of Walking Aided Mechanism And Control System Of Walking Rice Transplanter Based On Unmanned Driving

Rice is the main food crop of mankind,which feeds nearly half of the world’s population and plays an important role in the survival and development of human beings.Rice accounts for 40%of the national total grain,is China’s largest food crop,its production is related to the country’s food security.However,in recent years,with the increase of population,the demand for rice is increasing;On the other hand,the reduction of arable land resources and agricultural practitioners,put forward the rice production more efficient,save resources,reduce labor intensity and improve the operating environment and other requirements,to achieve rice planting machinery automation operations is an effective way to solve these problems.Walking transplanter is the only type that needs the feet of operators be in the paddy field among the three types of transplanter(high speed,ordinary riding,and walking transplanter).The work becomes very tough in cold season since the feet are contacting the cold field and many farmers suffer from arthritis and other diseases due to such tough working environments.With the merits of light weight,flexible operation and good performance in crossing the ridge and preventing trapping,the walking transplanter is especially suitable and indispensable for the paddy field with deep mud.The unmanned technology can free the farmers from working directly in the field.In addition,the industrialization of unmanned technology for the walking transplanter is economical,with the average cost about 3000 Yuan for each machine,and can maximize the high efficiency of the rotary transplanting mechanism.In this study,the walking transplanter was used as the platform,and the walking aided mechanism was designed to replace the artificial driving,and the remote control system and pneumatic system were designed to realize the intelligent field operation of the walking transplanter.The main research contents are as follows:(1)By analyzing the process of walking transplanter in field operation,the principle of hydraulic profile system of and the mechanical relationship of hydraulic lifting and descending system,two different walking aided mechanisms were invented.For the first design,this paper establishes the kinematics and dynamics model of the system.(2)With CAA technology,using Visual Basic 6.0 software development platform,according to the structural characteristics of walking aided mechanism and the movement requirements of unmanned rice transplanter,the mechanism optimization objectives are determined.Based on the established kinematic model,a computer analysis and optimization design software was developed.At the same time,the parameter-guidance heuristic optimization algorithm proposed by the research group is used to optimize the mechanism quickly,and the optimal parameter group satisfying the automatic requirements of the walking transplanter in the field is obtained.(3)According to the best parameter group,the CAD2007 software is used to draw the 2D drawing,and the 3D model is established by CATIA.At the same time,the interference between parts is checked,and the assembly is completed.The virtual prototype model is imported into the ADAMS simulation software after the middle format conversion,and the virtual simulation model is obtained by adding motion pair,driving force and load.After the virtual simulation analysis is completed,the relevant result data is output,According to the simulation results;it is possible to obtain the relationship between the lifting height of the walking aided mechanism and the inclination of the transplanter during the lifting and descending process.And the simulation results are compared with the results of optimization software and institutional analysis,in order to test the correctness of the theoretical model.(4)In order to verify the feasibility of the second design,the physical prototype was manufactured and assembled,at the same time,the signal transmission and processing system and the pneumatic execution system are designed.Finally,the remote control experiment was carried out in the paddy field with a specification of 10?20 m and a depth of 15~25 cm,The walking speed of transplanter is set to 0.45 m/s and 0.90 m/s.The experimental results show that the second design and control system can meet the automatic requirements of the operation of unmanned walking transplanter in the field,and further verify the correctness and feasibility of the mechanism and control system.