Research On Key Technologies Of Automatic Navigation Between Grape Rows

With the development of precision agriculture,automatic navigation technologies play a more and more important role in agricultural production.In this paper,the key technologies of automatic inter-line navigation is studied according to the complex operation environment in the field of the vineyard and the agricultural requirements of the agricultural machinery.On the basis of studying all kinds of navigation sensors,the test platform of crawler tractor navigation system is built,the navigation monitoring software based on Lab VIEW is developed,and the navigation control method is studied.Finally,the control performance and rationality of the navigation platform are verified by experiments.The main contents of the study are as follows:(1)Build the hardware platform of crawler tractor navigation system.The measuring principle and error calibration method of GPS,attitude reference system(AHRS)and laser lidar range finder are studied,and the navigation sensor system is built.The test platform of crawler tractor is modified,and the hydraulic system is controlled by the lower computer,and then the motion control of crawler platform is realized.(2)Design navigation monitoring software.Based on Lab VIEW,the upper computer software for monitoring navigation platform is designed to collect the longitude,latitude,elevation,heading angle and surrounding environmental information of crawler tractor in real time,and the navigation information is processed in real time.The software includes six modules:data serial communication,data analysis,data display,data storage,dynamic navigation display and platform control.The functions of navigation data acquisition,data display and platform control are integrated.(3)Research on navigation control methods.The path tracking decision method of GPS linear navigation,the path fitting algorithm and fuzzy control navigation algorithm of lidar linear navigation are studied.Aiming at the highly nonlinear problem of crawler tractor navigation test platform,the fuzzy control algorithm is used to design the navigation decision controller.The kinematic model of crawler tractor is established,and the control effect of navigation path tracking control algorithm is verified by simulation analysis based on MATLAB.(4)Experimental study.On the basis of the previous theoretical research and the construction of the navigation test platform,the related accuracy test of the navigation sensor is carried out.Based on the automatic navigation platform of crawler tractor,the straight line navigation path tracking test is carried out,and the test data are analyzed and processed.The test results show that the control accuracy of the automatic navigation system basically meets the requirements of vineyard field operation.