## Methods
### Design of Unmanned Agricultural Machine Operation under Improved Fuzzy Adaptive Algorithm
#### 3.1.2 Design of Automatic Driving Operation Control System of Agricultural Machine
At the same time, this study focuses on the selection of agricultural machines for console switching toggles through the main controller to achieve the control of the toggle and automatic switching. Figure 6 shows the schematic diagram of the construction of the system parts of the agricultural machine. During the operation of agricultural machinery, the lifting of the rear operating mechanism is adjusted by the operation switch lever on the control panel. The farmland operation mechanism has two fixed positions, and only when it is in the lower position can the drive shaft mesh with it to ensure its normal operation. The switching of the lever can control the operating status of the agricultural machinery. For this purpose, a lifting mechanism controlled by a hydraulic valve is studied and designed. Due to the fact that the lever has only two positions, the operation start-stop controller controls the forward and reverse movement of the electric push rod to achieve the lifting and lowering of the mechanism. The limit switch equipped on the push rod can help it switch between two extreme positions, thereby precisely controlling the lifting and lowering of the working mechanism. In the terminal design part, the relevant parameters of agricultural machines and the operation parameters are considered, and the parameter results are synchronised to the main controller to achieve the management and analysis of the information data. The terminal part is mainly an interactive platform that can be used for operation management, and its contents include several parts, such as operation parameter management, operation environment information management, operation path planning, monitoring and track reality, remote control, historical data, and communication management connection. The serial communication in this system is based on Visual Studio 2019 and developed  
Figure 6: Schematic diagram of agricultural machinery system construction. using a 64-bit serial communication module. The baud rate for serial communication is set to 115,200 bps. The upper computer software system reads the information of the angle sensor and the positioning information of the satellite navigation receiver through RS232 communication, completes real-time communication with the main controller, and uses the NMEA0183 protocol standard to obtain the required positioning data. When obtaining program information, the Cserial Port class calls the thread creation function in the Windows API to create a thread for the serial port. Before closing the serial port, existing serial port threads should be deleted to avoid memory overflow. The controller is implemented using the Controller Area Network (CAN) bus, which reads information from the tilt sensor and sends control messages to the lower computer. Based on the received information, the controller can control the vehicle. When the communication is interrupted, the agricultural machine should stop the current operation, in which the control commands such as the emergency stop, start-stop, key parameter setting, etc., are realised with the help of the transmission control protocol, and the remote control is realised by uploading or downloading the telegrams. Operation spacing is the main parameter. This study focuses on the agricultural machine's driving and operation work, first providing the user with the necessary data on the terminal. And then, based on the operation between the section of the turnaround and the distance calculation formula, the driving path is planned. Equation (11) is the formula for calculating the spacing between operation rows. \[D=\frac{|b_{i}+1-b_{i}|}{\sqrt{q^{2}+1}} \tag{11}\]  
In Equation (11), \(b_{i}+1\) denotes the intercept of the linear equation at the point \((i+1)\), \(b_{i}\) denotes the intercept of the linear equation at the point and \(i\), and \(q\) is the slope of the line.