The Research Of Transplanter On Steering And Speed Automatic Control And Transplanted Rice Number Counting Device

The rice experiment plot is the base for breeding improved varieties,improved culture technology and variety comparative test,it’s necessary to plant quantitative seeding in given region when we do some experiments about rice breeding,seed breeding,cultivation and soil fertility and other tests in plot.To improve the automaticity and precision in rice transplanting tasks,having designed the comb ined control device for driving speed,steering.The main contents and conclusions of this paper are showed below:1.Completed the design of the precision seeding counting device.Through the investigation and analysis to determine the design goals,by co mparing the counting characteristics of image and sensor counting and combining transplanter working environment,proposed low cost counting program based on Hall sensor.According to the design requirements,the completed type selection of sensor and counter,and finished refitting of PZ-60 D high-speed transplanter.By doing all of these,the real-time counting results displaying,seeding transplanting number setting and “automatic-stop” seeding transplant controlling.2.Determined the installable range o f the Hall sensor.Analysised the marginal signal count situation when there is different relationship between the push point(transplanting point)position,the counting pulse signal and the seedling claw stop and stop point position.After defining the zero angle,using the test device based on the absolute value rotary encoder,determine the position of the pushing point(transplanting point),stop position of the jaw claw under “automatic-stop” mode is located at 12 degrees and 143 degrees to 202 Range respectively,while under the "manual stop" mode,the jaw claw stop position is at random.To avoid the problem of inaccurate count,under "manual stop" and "automatic stop" mode,Hall sensor installation range on the transplanter is between 0 ~ 143 and 202 ~ 360 degrees and 12 degrees respectively.3.Completed driving speed and steering automat control of the transplanter.The design and installation of the speed control device of the electric push rod typethree connecting rod is completed for the transplante r of the transplanter.Using the John Deere Auto Trac autonomous navigation system as a platform,through the ATU automatic steering wheel and StarFire GPS receiver transformation,to achieve the system in the district transplanter installation and use.And the external controller through the communication protocol to achieve the transplanter S-shaped walking path planning and ATU automatic steering steering wheel steering control.4.Completed the plot transplanted rice number counting and automation contro l verification test.The PZ-60 D high-speed seeding transplanter platform was used to carry out the transplanting count and the automatic control test.Under the static condition of the transplanter(walking gear neutral)and the Hall sensor,the different installation angles were selected to verify,and the counting result was right under the "stop" and "hand stop" modes.In the field working condition,In the case of "stop" and "stop" and "hand stop" mode,the counting accuracy is 100%.The field navigatio n test shows that the designed path planning algorithm is stable and reliable,and the average deviation of the operation is 2.95 cm.