Research On Control System Of Unmanned Crawler Organic Manure Dumping Machine

With the development of China’s breeding industry,about 1.73 billion tons of livestock and poultry manure is produced every year.Composting,flipping,aerobic fermentation into organic fertilizer is the mainstream treatment method at present.The concentration of harmful gas in compost field is high and the environment is bad,so the unmanned flipping operation is of great significance.In view of the immaturity and high cost of unmanned road driving,this paper takes FD-2500 crawler organic fertilizer tiller as the research object,analyzes the feasibility of using unmanned driving only in the tilting operation,and designs and realizes the unmanned lidar navigation system and automatic control system of the tilting operation in the compost yard.The main research contents and results are as follows:(1)Based on the current widespread use of FD-2500 type caterpillar organic fertilizer series problems of throwing machine,put forward by adding a set of hydraulic system in parallel,in the driving room equipped with hydraulic cylinder lever position,form a hand from the integration of the operation plan,the key in the selection of hydraulic components,hydraulic calculation,the modeling and simulation,it is concluded that the dynamic characteristics of hydraulic system,The piston displacement,piston velocity and working end pressure of left and right cylinder,shovel and shaft cylinder are obtained under three different adjustment states.(2)For the indoor environment of the organic fertilizer field,the unmanned flip operation control system is designed,that is,the upper control system transmits the current position and state of the machine to the lower control system,and the lower control system STM32 controls the corresponding solenoid valve by controlling various relay signals,so as to control the action of the corresponding hydraulic cylinder.Realize the flip machine forward,backward,left and right steering,deviation correction,stop and flip operations.Using lidar navigation technology,a path planning method and deviation correction method of flip machine were proposed,that is,the forward,turn,stop and return paths of flip machine were given according to grid coordinates,and the left and right deviations of flip machine were judged according to the range of lidar Angle deviation.(3)Put forward the attitude adjustment method of the driving test,the results show that the driving posture adjustment method can complete the output of the whole map,area coverage rate can reach 87.27%,can be achieved under the specific path of turning,corrective action,control method is feasible,rectifying method feasible within the error of plus or minus 10 °,expected results are basically in agreement with the test design.Through the research of this topic,a manual self-integrated operation scheme is proposed for the existing crawler flip machine,which does not need large structural changes and can realize unmanned operation,which has practical application value and lays a theoretical foundation for realizing the unmanned function of organic fertilizer flip machine.