【摘要】：農(nóng)業(yè)生產(chǎn)的根本出路在于農(nóng)業(yè)機械化,而農(nóng)業(yè)機械的未來必將是向智能化的方向發(fā)展。自動導航技術(shù)是當今智能化領(lǐng)域熱門的研究課題之一,也是實現(xiàn)精準農(nóng)業(yè)的重要手段。本文主要研究自動導航技術(shù)在水稻插秧機上的應(yīng)用,根據(jù)插秧機作業(yè)的工況相對比較復雜且精度要求又高等特點,對插秧機GPS自動導航技術(shù)進行了深入的研究。主要研究的內(nèi)容如下所示:(1)對插秧機進行了自動化改裝。將約翰迪爾公司生產(chǎn)的GPS接收機和自動方向盤安裝在井關(guān)插秧機上,所設(shè)計的安裝平臺及安裝機構(gòu)能夠方便地拆卸和快速地移植。同時,將插秧機的油門和檔位進行了改裝,完成了對油門和檔位的自動化控制設(shè)計。(2)搭建插秧機自動導航系統(tǒng)硬件平臺。設(shè)計了基于STM32芯片的下位機導航控制器,結(jié)合GreenStar3000 RTK-GPS定位系統(tǒng)、ATU200電動方向盤、AHRS-3000姿態(tài)傳感器和MEMS陀螺儀等傳感器完成了插秧機自動駕駛系統(tǒng)硬件平臺的搭建,為實現(xiàn)插秧機自動導航提供了硬件基礎(chǔ)。(3)開發(fā)了組合式導航算法。首先深入分析了模糊控制算法與純追蹤算法。然后根據(jù)插秧機水田作業(yè)(包括直線和地頭轉(zhuǎn)彎)行駛路徑的特點,設(shè)計了一種基于組合式算法的導航控制系統(tǒng)。最后利用Matlab/Simulink搭建仿真框圖,檢驗所設(shè)計的算法是否有效。(4)開發(fā)導航系統(tǒng)上位機軟件�；赪indows 7操作系統(tǒng),在Microsoft Visual Studio2013開發(fā)環(huán)境下,使用C#語言編寫了上位機軟件。軟件主要有六個功能,分別是數(shù)據(jù)通訊、數(shù)據(jù)采集、預(yù)定義路徑規(guī)劃、控制決策、參數(shù)顯示以及數(shù)據(jù)保存輸出等。(5)開展了插秧機自動導航系統(tǒng)試驗研究。以自主設(shè)計的插秧機自動導航平臺為基礎(chǔ),分別進行了水泥路面直線和轉(zhuǎn)彎導航試驗以及水田直線導航插秧試驗。試驗結(jié)果為:當插秧機以約0.7m/s的速度在水泥路面上自動轉(zhuǎn)彎行駛時,橫向偏差最大值為10.8cm,平均值為2.3cm。當插秧機以相同速度在水田中直線作業(yè)導航行駛時,橫向偏差最大為6.8cm,平均值為4.2cm。達到了插秧機作業(yè)質(zhì)量的要求。這說明所開發(fā)的組合算法已初步擁有了直線和地頭轉(zhuǎn)彎的導航能力。
[Abstract]:The basic outlet of agricultural production lies in agricultural mechanization, and the future of agricultural machinery will develop intelligently. Automatic navigation technology is one of the hot research topics in the field of intelligence, and it is also an important means to achieve precision agriculture. In this paper, the application of automatic navigation technology in rice transplanter is studied. According to the characteristics of the working condition of rice transplanter is relatively complex and the precision requirement is high, the GPS automatic navigation technology of rice transplanter is studied deeply. The main research contents are as follows: (1) the transplanter is refitted automatically. The GPS receiver and automatic steering wheel produced by John Deere are installed on the well door transplanter. The installation platform and installation mechanism can be easily removed and transplanted quickly. At the same time, the throttle and the gear of the transplanter are refitted, and the automatic control design of the throttle and the gear is completed. (2) the hardware platform of the automatic navigation system of the transplanter is built. The navigation controller based on STM32 chip is designed. The hardware platform of automatic driving system of rice transplanter is built with GreenStar3000 RTK-GPS positioning system, ATU200 electric steering wheel, AHRS-3000 attitude sensor and MEMS gyroscope. It provides the hardware foundation for automatic navigation of transplanter. (3) A combined navigation algorithm is developed. Firstly, fuzzy control algorithm and pure tracking algorithm are analyzed. Then a navigation control system based on combined algorithm is designed according to the characteristics of the path of paddy field operation (including straight line and ground turn) of rice transplanter. Finally, the simulation block diagram is built with Matlab/Simulink to verify whether the algorithm is effective. (4) the software of upper computer of navigation system is developed. Based on Windows 7 operating system and under the environment of Microsoft Visual Studio2013, the upper computer software is programmed with C # language. The software has six main functions, which are data communication, data acquisition, predefined path planning, control decision, parameter display and data saving and output. (5) the experimental research on automatic navigation system of transplanter is carried out. Based on the self-designed automatic navigation platform of transplanter, tests of straight line and turn navigation of cement pavement and transplanting seedling of paddy field were carried out respectively. The results showed that the maximum transverse deviation was 10.8 cm and the average value was 2.3 cm when the transplanter turned automatically on the cement pavement at the speed of about 0.7m/s. When the transplanter was navigated in a straight line at the same speed, the maximum transverse deviation was 6.8 cm and the average value was 4.2 cm. Meet the quality of transplanter operation requirements. This shows that the combined algorithm has the navigation ability of straight line and ground turn.
【學位授予單位】：浙江理工大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：S223.91

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