Research on Double Laser Sources Location System Based on Incremental PID Algorithm

Abstract

Precision location technology is one of basic technologies to realize the farmland working machine automatic driving and prescription agriculture; it is an important content of modern intelligent agricultural machinery research. In order to study a low-cost and high-precision location system which can be applied in the small machine worked in the south paddy field, the study proposed a double laser sources location technology. With the known distance between two laser emitter, the dynamic emission angle of laser emitter can be acquired and the location coordinate of the moving machine can be accumulated. Then the real-time coordinate information and moving attitude also can be obtained. It lays a foundation for unmanned working machine and data acquisition from fixed-point in the paddy field. First, the principle of laser location was introduced in the paper, and it focused on the design of mechanical structure and controlling unit. Then, the automatic tracking and location experiment was carried when the system was fixed on the rice transplanter. And the experiment shows, the distance shifting of tracking curve is less than 7cm in the measurement of 100m, and the advantage of the high precision, low cost and high portability is very suitable for the location requirement of south farmland working machine.