果园整地旋耕机智能避障系统设计与试验  

Design and Experimental Study on Intelligent Obstacle Avoidance System for Orchard Rototiller

作　　者：林静[1] 王东锐 吕洲翼 王鑫宇 LIN Jing;WANG Dong-rui;LÜZhou-yi;WANG Xin-yu(College of Engineering,Shenyang Agricultural University,Shenyang 110161,china)

机构地区：[1]沈阳农业大学工程学院,沈阳110161

出　　处：《沈阳农业大学学报》2023年第2期165-175,共11页Journal of Shenyang Agricultural University

基　　金：公益性行业(农业)科研专项项目(201503116-09);国家自然科学基金项目(51275318);辽宁省农村经济委员会与质量技术监督局地方标准项目(2016160-27)。

摘　　要：针对现有果园整地由于树干、树冠、电线杆及其他杆型障碍物等的影响,机具作业时果树株距间的区域也无法正常进行作业,需要人工协作进行排除障碍和二次补耕作业,且劳动强度大、工作效率低等问题,提出了一种适用于现代化果园种植模式下的新型非接触式的避障旋耕机。设计了新的果园避障旋耕机,着重设计了旋耕机上的智能避障系统,主要由超声波传感器、单片机控制器、电磁换向阀和液压执行机构等组成。确定了智能避障系统的自动识别结构与控制原理结构,结合液压系统执行机构实现自动避障功能,确定了果园整地旋耕机智能避障系统的设计方案。对避障系统中的核心液压部分进行了理论设计,并运用FluidSIM-H软件进行了仿真分析,得到了液压油缸的速度与节流阀开口度的关系,验证了液压系统理论分析的可行性。通过田间试验,设计了三因素三水平的正交试验,对试验结果进行多元拟合回归分析和显著性检验,得到试验指标的回归方程并验证了数学模型显著,最后确定了果园智能避障系统的最佳作业参数组合为前进速度3.69 km·h~(-1)、旋耕机横向移动速度为0.52 m·s~(-1)、识别距离为0.41 m,此时的避障率为97.91%,达到了果园的农艺设计要求,提高了果园整地机械作业效率,为果园旋耕整地机进一步优化设计、改进和评价提供了一定的理论参考。The area between the trees in orchard is hard to cultivate due to tree trunks,tree crowns,utility poles and other rod-type obstacles,,the manual work might be needed to remove the obstacles and do the cultivation,and it is labor intensity and low efficiency.A new non-contact obstacle avoidance rototiller for modern orchard was designed,focusing on the intelligent obstacle avoidance system on the rototiller,which mainly consists of ultrasonic sensors,single chip microprocessor controller,solenoid reversing valve and hydraulic actuator.The automatic recognition structure and control principle of the intelligent obstacle avoidance system are determined,combined with the hydraulic system actuator to realize the automatic obstacle avoidance function,and the design scheme of the intelligent obstacle avoidance system of the orchard rotary tiller is determined.The theoretical design of the core hydraulic part of the obstacle avoidance system was carried out,and the simulation analysis was carried out using FluidSIM-H software to obtain the relationship between the speed of the hydraulic cylinder and the opening degree of the throttle valve,which verified the feasibility of the theoretical analysis of the hydraulic system.The three-factor,three-level orthogonal field experiment was carried out,and the multivariate regression analysis and significance test were conducted on the test results to obtain the regression equation of the test indexes and the mathematical model was verified to be significant.The best combination of operating parameters of the orchard intelligent obstacle avoidance system was determined as the forward speed of 3.69 km·h-1,the lateral movement speed of the rototiller of 0.52 m·s-1 and recognition distance of 0.41 m.Then,the obstacle avoidance rate was 97.91%,which meets the agronomic design requirements of the orchard and increases the operational efficiency of the orchard cultivation machine.It may provide theoretical reference for further optimization of the design,improvement and evaluation of

关 键 词：旋耕机 智能控制 超声波识别 避障系统 液压系统 

分 类 号：S222.4[农业科学—农业机械化工程]