Research on the automatic navigation control system of Lycium barbarum spray machine based on Beidou navigation system

Abstract

According to the automatic navigation operation requirements of Lycium barbarum plantation sprayers, a spray machine automatic navigation control system based on the Beidou navigation system was designed using a tracked Lycium barbarum sprayer as a research platform. The system mainly consists of Beidou positioning system, navigation control system, steering control system, and spray machine. The steering control system can achieve dynamic steering control of the spraying machine based on the expected steering angle sent by the navigation control system. Analyzing the motion model of the spray machine and combining it with a pure tracking model, a linear tracking navigation control system for the Lycium barbarum spray machine was designed. The navigation path planning of the spraying machine was carried out based on the planting mode and ground characteristics of Lycium barbarum berries, and experiments were conducted in Lycium barbarum berry plantations. The experimental results show that under the condition of a forward speed of 3km/s of the spraying machine, the maximum deviation of the linear navigation tracking of the navigation control system is not more than 0.16m, and the average absolute deviation is not more than 0.04m, meeting the requirements of automatic navigation operation for planting spraying.