Dissertation > Excellent graduate degree dissertation topics show

Research on the Key Technology of Vision-based Auto Navigation for Walking-type Rice Transplanter

Author: TangZeHua
Tutor: WuChuanYu
School: Zhejiang University of Technology
Course: Mechanical Design and Theory
Keywords: Walking-type Rice Transplanter Vision-based Navigation Wireless RemoteMonitoring Walking Mechanism Fuzzy Logic Control
CLC: S223.9
Type: Master's thesis
Year: 2013
Downloads: 16
Quote: 0
Read: Download Dissertation

Abstract


As the growing of aging society problem, as well as rural labor transfer withindustrialization in China, intellectualization has become the inevitable trend of the futuredevelopment of agricultural machinery, autonomous navigation technology has become a hotissue of the international research in the field of agriculture machinery. Rice is one of the mostimportant food crops in China. Walking-type rice transplanter is widely used in southern Chinawith its compact, flexible, and energy-saving characteristics, but its labor-intensive, so carry outauto navigation research on the platform of Walking-type rice transplanter is very urgent.Compared to other navigation modes, the vision-based navigation system has the advantage ofeasy to build, great navigation accuracy and good real-time. Therefore, we try to find adistinctive way for transplanter automation, with combining the wireless remote monitoringwith vision-based navigation on the platform of walking-type rice transplanter. Main work ofthis paper can be summarized as follows:1) The design of assist walking mechanismDesigned and manufactured the assist walking mechanism with lifting function. On thebasis of analyzing transplanter’s Original traveling mechanism and lifting mechanism, thispaper designed two schemes, analyzed and calculated the linkage length of the first scheme.Experiment confirms that, through the assist walking mechanism, the transplanter has betterstability with three wheels touchdown when walks independently, which is beneficial toautonomous working; Furthermore, in order to remain the viewing angle of camera unchangedto capturing more valid video information used in navigation, it also makes sure front portionand rear portion of the transplanter ascend or descend equal height.2) The construction of the wireless remote monitoring systemThe paper constructed a wireless remote monitoring system based on the rice transplanter,accomplished developing of autonomous navigation system software of host computer based onVC++6.0, designed lower computer MCU_based control signal processing system andpneumatic actuator system, and instructed design method and concrete implementations ofsoftware and hardware of systems in detail. Experiment result show that: Real-time Imagetransmission, the control signal transmission delay in10ms of less than, pneumatic systemimplement motion control instruction timely, reliable, meeting the system functional requirements.3) The designing Vision-based navigation systemThe paper researched the suitable color model used in image processing for paddy fieldenvironment, introduced a camera calibration method based on OpenCV, studied the seedlingline extraction algorithm based on Hough transform, designed and implementation thenavigation parameter acquisition algorithm. Finally, input navigation parameters to the fuzzycontroller, and send the output motion control instruction to the lower machine, control thetransplanter tracking navigation path driving. The simulation results show that the controllercan well realize transplanter for navigation path tracking.

Related Dissertations

  1. Design of Dryer in Chinese Herb and Its Simulation of Control System,TQ461
  2. Research on Semi-Active Suspension System of High-Speed Train,U270.3
  3. The Research of Cooperative Control of ABS and ASR,U463.54
  4. The Applied Research of Fuzzy Logic on Controlling Theory,O159
  5. Control of the Wire-Driven Aid Walking Mechanism,TH112
  6. Research on Fuzzy Logic Controller of Anti-lock Braking System,U463.526
  7. Research About Power Control Technology of Switched Reluctance Generator Wind Power System,TM352
  8. Control of Converters for Megawatt Level DFIG,TM614
  9. Position and Attitude Estimation Techniques of MAV Based on Vision/mems,TN966
  10. Research and Design of Anti-bumping System of Auto Backing on Fuzzy Logic Control,TP273.4
  11. Research on the Turning Movement of High Speed Maglev Train,U266.4
  12. The Research of MPPT Control in Grid-connected PV System Based on Soft Switching Technique,TM615
  13. Study on Simulation of Brushless Double-fed Wind Generator Control System,TM315
  14. An Improvement Protocol of WLAN MAC Based on Fuzzy Logic Control,TN925.93
  15. A Research of DC-DC Converter by Fuzzy Variable Structure Common Model Adaptive Control Methods,TP273
  16. Analysis and Experiment of Backward Rotary Transplanting Mechanism with Eccentric Gears and Non-circular Gears,S223.91
  17. To comfort control study PMV index - based air conditioning system,TU831
  18. The Fuzzy Logic Control of Parallel Hybrid Electric Vehicle,U469
  19. The Research on Fuzzy Sliding-mode Control Method,TP13
  20. Study on Fuzzy Control of Energy Management Systems in Hybrid Electric Vehicles,TP273.4
  21. The Modeling and Simulination of the Hybrid Vehicle,U469.72

CLC: > Agricultural Sciences > Agricultural Engineering > Agricultural machinery and implements > Planting machinery > Planting machine
© 2012 www.DissertationTopic.Net  Mobile