Research And Design Of Spraying Device For Jujube Yard Based On Autonomous Navigation Platform

Jujube is one of the characteristic fruit industry in Xinjiang,and its planting industry is widely distributed in various regions of Xinjiang.At present,the main way of pest control is red dates chemical protection technology.However,most of the existing orchard spraying machinery is manual operation by using high pressure Lance.There are many problems such as labor intensity,frequent accidents,and unable to cope with the decline of spray quality caused by the sudden change of environment.Therefore,developing a spray device suitable for Xinjiang red dates planting mode is of positive significance for improving the pest control ability of jujube orchard and promoting the healthy and sustainable development of red dates planting industry.In this paper,a wheeled autonomous navigation car is used as the walking platform and the STM32 controller as the core of the control device.The function of the spray device can be adjusted independently to ensure the spray effect when the working environment changes.The main contents of this paper are as follows(1)the overall scheme of the control system for the spraying device of the jujube garden has been determined.The overall structure of the system,such as the number of spray heads and the height of the platform,has been designed.Meanwhile,the key parts of the spray device have been selected,For example,the model selection of hydraulic pump,steering gear,wind direction sensor,so as to achieve the purpose of compact structure and high spray quality.(2)CFD simulation software is used to simulate the external flow field of the device under different wind speed,wind direction and nozzle swing angle.The movement law of droplets in the air under different wind speed,wind direction and nozzle swing angle is obtained.According to the simulation results,it can be used to adjust the nozzle swing angle under different wind speed,wind direction and natural conditions Small group provides theoretical guidance program.(3)Based on the standard curve equation of methylene blue solution concentration and absorbance,origin 8.0 software is used to process the data of droplet deposition,which provides practical data support for the design of fuzzy control algorithm.(4)the fuzzy control algorithm of the spray device is determined.The fuzzy logic relationship between the natural input signal and the control output signal is built by establishing the membership function of the fuzzy rules and membership functions of wind direction,the membership function of the wind speed and the membership function of the steering wheel,and the optimized design of the automatic spray function software program for the spray device is completed.(5)developing and designing the hardware and software of the system.The design of the hardware circuit mainly includes: liquid level alarm module,wind direction sensor module,steering gear movement module,etc.the software program design is based on C language,and the control program is developed mainly including: liquid level detection program design,sprinkler movement angle program design and so on.Under the condition of the spray method,a comparative experiment is carried out.The field test results show that the spraying control system responds sensitively to the change of the wind speed and direction of the natural environment when the spraying device of the jujube garden is in the face of natural environment.It can adjust the swing angle of the nozzle in time and has good spray compensation effect.When the wind speed is 2.2m/s,3.3m/s,3.6m/s and 2.5m/s,the wind direction angle is 10 °、 30 °、 60 °、 120°,Compared with the traditional unopened spray system,the droplet deposition amount increased by 27%,44%,41% and 38% respectively.