山地果园钢丝绳牵引货运机超声波避障系统  

Obstacle Avoiding System of Mountain Orchard Steel Wire Rope Traction Cargo Vehicle Based on Ultra-sonic Sensing

作　　者：李震[1] 卢加纳[2] 洪添胜[1] 宋淑然[1] 黄家洋[2] 陈辉鑫[2] 

机构地区：[1]华南农业大学南方农业机械与装备关键技术教育部重点实验室,广州510642 [2]华南农业大学工程学院,广州510642

出　　处：《农业机械学报》2011年第10期116-120,共5页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家公益性行业(农业)科研专项经费资助项目(200903023);国家现代农业产业技术体系建设专项资金资助项目(农科教发[2011]3号);华南农业大学校长基金资助项目(4500-K10056)

摘　　要：为避免山地果园钢丝绳牵引式货运机运行时碰撞穿越轨道的行人或其他障碍物,提高果园轨道货运系统的安全性和稳定性,开发了山地果园钢丝绳牵引式货运机避障系统,包括STC单片机、超声波测距、红外光电检测、无线通信、语音报警及手动控制等模块。系统设计指标为:障碍物检测距离不小于150 cm,避障成功率达到100%。系统应用试验结果表明:使用静态障碍物,上坡避障完成后货运机前端与障碍物间最小距离为100 cm,下坡避障完成后该间距为90 cm;使用动态障碍物,上坡避障完成后货运机前端与障碍物间最小距离为98 cm,最小延时为0.64 s;下坡避障完成后该间距为66 cm,最小延时为1.30 s。To avoid crashing into people going through the rail or other obstacles and improving the system＇s safety and stability,an obstacle avoiding system of mountain orchard steel wire rope traction cargo vehicle was designed.The system was composed of STC single-chip micro-controller,ultra-sonic range measurement modules,infrared detection unit,wireless communication module,voice alarm and manual control module.The system was designed to achieve an obstacle detection distance of no less than 150 cm and a 100% successful braking rate.System verification test results indicated that： when using static obstacle,the minimum vehicle-to-obstacle distance was 100 cm after uphill brake and the minimum vehicle-to-obstacle distance was 90 cm after downhill brake.When using motion obstacle,the minimum vehicle-to-obstacle distance and time delay were 98 cm and 0.64 s,respectively after uphill brake.The minimum vehicle-to-obstacle distance and time delay were 66 cm and 1.30 s after downhill brake.

关 键 词：货运机 山地果园 避障系统 超声波 

分 类 号：S229.1[农业科学—农业机械化工程]