Research On Design And Control System Of New Obstacle Avoiding Weeder In Orchard

The orchard economy has always been an important part of the agricultural economy produced by China as a large agricultural country,and the output of orchard crops plays a vital role in the orchard economy.The level of orchard weeding efficiency is one of the direct influencing factors of orchard crop output.At present,weeding by chemical agents,mechanical weeding in orchards,and manual weeding are the three major ways of weeding in orchards.Long-term use of chemical agents for weeding not only has the risk of harming the operator’s body,but also produces certain pollution to the orchard soil and microbial system.Compared with the other two weeding methods,manual weeding takes a long time and has low working efficiency.Therefore,orchard mechanical weeding has become the first choice for orchard farmers.At present,the degree of automation of mechanized weeding in China’s orchards is not high,and the degree of refinement is not high,especially the lack of orchard mower that can automatically avoid obstacles and weed between fruit trees.To solve this problem,a new orchard weeding machine with automatic obstacle avoidance and weeding function between plants was designed in this subject.The main work of this topic is as follows:Design the mechanical platform of the orchard automatic obstacle avoidance Mower.The two types of traction vehicles are used as the carrier of the new orchard obstacle avoidance Mower,and the inter-row distance adjustment mechanism,vertical distance adjustment mechanism,contouring mechanism and actuator of the front frame of the new orchard obstacle avoidance Mower are designed assembly.Use ADAMS software to carry out dynamic simulation analysis on the key components of the first design scheme of the new orchard Mower front mechanical platform(inter-plant automatic obstacle avoidance and weeding component)to determine the swing arm rotation pair X and Y of the automatic plant obstacle avoidance and weeding component The maximum loads in the Z direction are:-4882.6N,2484.79N,and-5299.6N,and the maximum loads in the X,Y,and Z directions of the mowing rotary pair are:4872.08N,-2693.6N,and 5310.95N.The ANSYS software was used to perform static analysis and modal analysis on the key components of the new orchard Mower(automatic obstacle avoidance and weeding components between plants),and optimized the response surface design of the front frame.After optimization,the maximum stress drop on the cutting disc,swing arm and sleeve is 0.8227MPa,14.15MPa and 15.669MPa,and the optimization rates are:39.82%,39.03%and 17.89%respectively.The modal analysis is performed on the optimized key components.In the first-order mode with a frequency of 397.72 Hz,the maximum deformation is 19.192 Hz.The working frequency of the mowing motor is lower than the low-order frequency,which verifies the rationality of the design scheme of the first frame.Using the Windows platform as the application environment,the SOLIDWORKS Motion module was used for Motion simulation of the second orchard design plan of the new orchard Mower front frame mechanical platform,and the key components of the new orchard herbicide front machine platform’s second design plan Barrier weeding components)design dimensions.Under the condition of the obstacle avoidance angle of 52.5°,the total length of the outer wall and the inner wall is 1500mm,the total length of the swing arm,the profiling mechanism and the actuator is 1030mm,and the length of the swing arm hydraulic cylinder fixing seat and the piston rod is 770.20mm.Using the SOLIDWORKS Simulation module to perform finite element analysis on the key components of the mechanical platform of the new orchard Mower,the maximum stress of the design model of the front frame No.2 is 32.78MPa.The chamfering stress distribution on the upper surface and upper surface of No.1 L support is 3MPa and 1.6MPa,and the chamfering stress distribution on the upper surface of No.2 L support and the lower surface of No.2 L support is 1.4MPa,3MPa and No.1 L respectively The stress of the chamfered surface under the support is 2.5MPa,and the stress of the chamfered surface under No.2 L support is 0.4MPa.The upper surface displacement of No.1 L bearing is 0.0019mm,and the upper surface displacement of No.2 L bearing is 0.0022mm.The 1 vibration frequency of the swing arm is 211.72 Hz,less than the rated frequency of the weeding motor,which verifies the rationality of the No.2 design scheme.Design an active obstacle avoidance and weed control system for the entire new orchard Mower.Design the control algorithm of the control system—fuzzy control algorithm to realize automatic obstacle avoidance and weeding between plants.Design and solve the fuzzy control algorithm of automatic obstacle avoidance and weeding between plants in MATLAB software.The calculated fuzzy control algorithm calculated that when D=193cm,V=0.2m/s,A=52°,the output value JD=52.5°.It conforms to the previously designed fuzzy control rules and verifies the rationality of the fuzzy control rules.Design an emergency obstacle avoidance and weeding system for a new type of orchard Mower and a data sensing system for the Mower to sense the surrounding environment.The new-type orchard weeding machines were tested for inter-plant active obstacle avoidance weeding,emergency obstacle avoidance weeding and normal obstacle avoidance weeding experiments at V=0.1m/s,V=0.2m/s,V=0.3m/s.In low-speed,medium-speed,and high-speed active obstacle avoidance weeding experiments,the average error rates E were 0.0563,-0.00673,and 0.0922,and the standard deviations of error rates E were 0.0281,0.0383,and 0.0305.The obstacle avoidance rate is 96.7%.In the low-speed and medium-speed high-speed inter-plant emergency obstacle avoidance and weeding experiments,the average pressure peaks were 10.235N,11.233N,and 13.41N,respectively,and the obstacle avoidance rate of the inter-plant emergency obstacle avoidance and weeding experiment was 96.7%.In the low-speed,medium-speed and high-speed normal obstacle avoidance and weeding experiments,the average error rate E was 0.03,-0.009,and 0.08,and the standard deviations of the error rate E were 0.04,-0.06,and 0.31.The obstacle avoidance rate is 100%.The experiment results of inter-plant obstacle avoidance and weeding verify the rationality of the designed new orchard obstacle avoidance and weeding machine obstacle avoidance and weeding system.