除草机林间除草避障系统的设计与应用  

Design and Application of Weeding and Obstacle Avoidance System in Forest

作　　者：苏建雄 廖凯[1] 高自成[1] 李立君[1] 闵淑辉[1] 汤小红[1] SU Jianxiong;LIAO Kai;GAO Zicheng;LI Lijun;MIN Shuhui;TANG Xiaohong(School of Mechatronics Engineering,Central South University of Forestry and Technology,Changsha 410000,China)

机构地区：[1]中南林业科技大学机电工程学院,长沙410000

出　　处：《机械设计与研究》2021年第2期186-190,共5页Machine Design And Research

基　　金：湖南省重点研发计划项目(2018NK2065,2019NK2022)。

摘　　要：针对南方丘陵山区林地的复杂草地环境,设计出除草机林间除草避障系统以保护机具,实现高效除草。首先,提出仿地形作业机械结构和模糊控制方法融合的机械、传感器、控制单元一体的林间除草避障系统设计,通过AJ-SR04M超声波传感器获取障碍物距离,以STM32F103单片机作为控制器,引入模糊控制算法,利用MATLAB软件仿真完成对算法的验证;第二,通过南方油茶林地现场除草试验,验证作业机具仿地形避障、动力适应避障、区域避障和绕行避障功能的可靠性。研究结果表明:林间除草避障系统很好地满足了非结构化林地条件的除草作业要求,具有安全保护和作业可靠的特点。Aiming at the complex grassland environment in the hilly and mountainous forests of the south,a weeding and obstacle avoidance system for the weeding machine in the forest is designed to protect the machinery and achieve efficient weeding.Firstly,the design of a forest weeding and obstacle avoidance system integrated with machinery,sensors,and control units,which integrates the mechanical structure of the terrain-like operation and the fuzzy control method is proposed.The obstacle distance is obtained through the AJ-SR04 M ultrasonic sensor,and the STM32 F103 microcontroller is used as the controller.The fuzzy control algorithm is adapted and MATLAB software simulation is used to complete the verification.Secondly,through the field weeding test in southern Camellia oleifera forests,the reliability of the functions of the work tools for terrain avoidance,dynamic adaptation to obstacle avoidance,regional obstacle avoidance and bypass obstacle avoidance are verified.The research results show that the flexible obstacle avoidance system satisfies the weeding operation requirements of unstructured forest land conditions,and has the characteristics of safety protection and reliable operation.

关 键 词：除草机 林间避障 传感器 模糊控制 非结构化林地 

分 类 号：TP273.4[自动化与计算机技术—检测技术与自动化装置]