http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
- 中文 을 입력하시려면 zhongwen을 입력하시고 space를누르시면됩니다.
- 北京 을 입력하시려면 beijing을 입력하시고 space를 누르시면 됩니다.
RISS 인기검색어
- 검색키워드
- 저자 : ( Ru-jiang Shou ) (검색결과 2 건)
- 무료
- 기관 내 무료
- 유료
-
Development of a Prototype of Guidance System for Rice-transplanter
Zhang, Fang-Ming,Shin, Beom-Soo,Feng, Xi-Ming,Li, Yuan,Shou, Ru-Jiang Korean Society for Agricultural Machinery 2013 바이오시스템공학 Vol.38 No.4
Purpose: It is not easy to drive a rice-transplanter avoiding underlapped or overlapped transplanting in paddy fields. An automated guidance system for the riding-type rice-transplanter would be necessary to operate the rice-transplanter autonomously or to assist the beginning drivers as a driving aid. Methods: A prototype of guidance system was composed of embedded computers, RTK-GPS, and a power-steering mechanism. Two Kalman filters were adopted to overcome sparse positioning data (1 Hz) from the RTK-GPS. A global Kalman filter estimated the posture of rice-transplanter every one second, and a local Kalman filter calculated the posture from every new estimation of the global Kalman filter with an interval of 200 ms. A PID controller was applied to the row-following mode control. A control method of U-turning mode was developed as well. A stepping motor with a reduction gear set was used to rotate the shaft of steering wheel. Results: Test trials for U-turning and row-following modes were done in a paddy field after some parameters have been tuned at the ground speed range of 0.3 ~ 1.2 m/s. The minimum RMS error of offset was 3.13 cm at the ground speed of 0.3 m/s while the maximum RMS error was 13.01 cm at 1.2 m/s. The offset RMS error tended to increase as the ground speed increased. The target point distance, LT also affected the system performance and PID controller parameters should be adjusted on different ground speeds. Conclusions: A target angle-based PID controller plus stationary steering angle controller made it possible for the rice-transplanter to steer autonomously by following a reference line accurately and even on U-turning mode. However, as condition in paddy fields is very complicated, the system should control the ground speed that prevents it from deviating too much due to ditch and slope.
-
Development of an automated guidance system for rice transplanter1
( Fang-ming Zhang ),( Xi-ming Feng ),( Yuan Li ),( Beom-soo Shin ),( Ru-jiang Shou ) 한국농업기계학회 2012 한국농업기계학회 학술발표논문집 Vol.17 No.1
An automated guidance system was developed on a rice transplanter. A distributed embedded computer system, one ECC and 5 ECUs, was constructed. Two Kalman filters were formed. The 1<sup>st</sup> one, named as global Kalman filter, integrated data of a RTK-GPS, a strapdown attitude sensor, and two encoders. The 2<sup>nd</sup> one, named as local Kalman filter, integrated data of a strapdown attitude sensor and two encoders. A PID controller was applied to row following control, whose offset RMS could less than 4 cm at speed of 1.2 m/s. A U-turn controller was also designed that it could control the transplanter in a go-turn-back mode.
연관 검색어 추천
이 검색어로 많이 본 자료
활용도 높은 자료
