Design Of Autopilot Driving System For Rice Direct Seeder

With the increasingly serious aging of farmers,"who to farming" and "how to farming" has become a very serious problem,and the decreasing farming land force our country to embark on the modern agricultural road of intelligent operation and precise operation.The popularization of differential technology,especially Beidou RTK positioning technology,embedded technology,intelligent control technology,intelligent sensors applied to agricultural autonomous driving,making the agricultural unmanned precise operations possible.Autopilot driving system of rice direct seeding machine can greatly improve the efficiency and quality of the paddy field operation,and it is the future trends of intelligent agricultural development.In the above background,combined with the needs of enterprises,this paper developed an autopilot driving system of rice direct seeder based on ARM controller.The main contents of this paper are as follows:First analyzed the significance of “intelligent” agricultural strategy in our country,and introduced the development status of agricultural intelligent control technology at home and abroad,pointed out the gaps of our country’s agriculture with foreign countries’,and included necessity of the development of agricultural intelligent technology.Then we tried to transform an available tractor : including the original steering wheel,shift gear and throttle mechanism.At the same time,we used double antenna Beidou receivers,angle sensor,tilt sensor,ARM controller,to build an independent driving system experimental platform.After then we applicated classical PID knowledge to wheel angle tracking.The steering principle of agricultural machinery is deeply analyzed,and the steering process of tractor is modeled mathematically.The tracking model of the pure tracking and the improved fuzzy control are simulated,finally the tracking effect is analyzed.Based on Cortex-A8 ARM platform controller,designed the autopilot software in Linux environment,including data acquisition and processing,GPS 485,CAN and serial communication signal,QT interface,navigation parameter initialization,the seeding operation process module.We take the linear tracking experiment as following process.Firstly,the closed loop PID tracking angle experiment is verified,then we take the experiment of the improved algorithm based on fuzzy control.Finally,we recorded the experimental data and analyzed he results.The results show that the autopilot driving system’s linear error and on-line effect are excellent,and have good engineering application value.