Research On Mobile Control System Of Spray Insecticide Machine Of Orchard

This paper designes a wheeled orchard pesticide sprayer developed by the laboratory for the purpose of avoiding workers contact directly pesticide, lessening the risk of poisoning, dispensing with labor and decreasing intensity of labor. The research project makes a series of researches on mechanical structure, electric structure, motion control and obstacle control, from the practical demand of engineering application, and researched deeply by mechanical engineer, computer control, sensor detection and signal process technology. In this paper, ultrasonic sensor detectes the relative distance to the obstacle detection, recognition correct path, based on16ultra low power microcontroller MSP430F149. With PID controlling algorithm to the steering motor,the sprayer realizes automatic walking and obstacle avoidance. And through wireless communication has completed PC remote monitoring and plotting. Through the study and research, the main work is as follows:First, the paper designs electrical system architecture based on analysis of the automatic control to orchard pesticide. The paper describes the soft and hardware of automatic moving system of orchard sprayer in detail, its core is the MCU control chip microcontroller MSP430F149, in addition, the power management module, wireless communication module, ultrasonic distance sensor positioning module, steering motor drive, control module, human-computer interacton module and storage module, provides support for all these automatic moving orchard spraying machine.Secondly, the paper completed the match automatic hardware selection and compatibility of control system on orchard pesticide sprayer, in the aspect of software design, drawing the orchard pesticide sprayer automatic moving circuit diagram of a control system by Altium Designer. At the same time, the paper completes the program design of ultrasonic ranging system and temperature compensation module by C language.Third,to design the robust controller to control steering motor, incremental PID control method is adopted by control of the motor control experiments on the throttle opening, has realized the simulation environment of "S" type curve walking obstacle avoidance path. This article will multiple sets of ultrasonic sensors, data fusion for ultrasonic sensor measurements at different distance of the weighted average before operation, as different obstacles in ultrasonic distance sensors before standard, extraction of characteristic value of multiple sets of ultrasonic sensors at the same time, as the "any" judgment criteria for different obstacles.Finally, respectively, to the steering motor speed, multiple sets of ultrasonic sensors, ultrasonic sensors, data acquisition, data fusion simulation under the environment of orchard spray insecticide walking machine automatic obstacle avoidance, etc has made the related experiments and analysis, gives the orchard spray insecticide machine based on single chip microcomputer control simulation results, the results showed that based on single chip microcomputer control orchard spray insecticide machine can realize automatic walking and obstacle avoidance, and has good precision, orchard spray insecticide machine remote monitoring for the future laid a solid foundation.