履带式果园喷药机遥控作业系统设计  

Design of Remote Control System for Crawler Orchard Sprayer

作　　者：全瑞倬 邹伟 杜小鸿 翟长远 李思[3] 陈立平 Quan Ruizhuo;Zou Wei;Du Xiaohong;Zhai Changyuan;Li Si;Chen Liping(College of Mechanical Engineering,Guangxi University,Nanning 530004,China;Intelligent Equipment Research Center,Beijing Academy of Agriculture and Forestry Sciences,Beijing 100097,China;Beijing Agricultural College,Beijing 102206,China)

机构地区：[1]广西大学机械工程学院,南宁530004 [2]北京市农林科学院智能装备技术研究中心,北京100097 [3]北京农学院,北京102206

出　　处：《农机化研究》2024年第9期82-88,共7页Journal of Agricultural Mechanization Research

基　　金：2022年度农业智能装备技术北京市重点实验室建设项目(PT2022-37);国家自然科学基金项目(31971775)。

摘　　要：为解决传统喷药机依靠人工驾驶,易引起工作人员中毒的问题,针对履带式果园喷药机,设计了一种喷药机遥控作业系统。遥控系统采用ECU作为控制核心,采用飞控系统替代传统的遥控系统进行无线远距离通信,采用液压阀组控制液压油缸来驱动操纵杆动作,从而实现对喷药机的启停、转向和喷药等远距离操纵。在履带式果园喷药机上集成该系统,对系统进行了性能测试,结果表明:系统的有效遥控距离不小于200m,在遥控距离不超过200m的条件下,行走控制响应时间不大于0.6s,遥控距离对系统响应时间几乎没有影响。通过人为切断无线信号的方法,进行了模拟掉线试验,结果表明:喷药机在遥控系统掉线后的停车成功率达到100%。系统具有响应快、通信稳定和安全性高的特点,能够满足果园喷药作业要求。In order to solve the problem that the traditional sprayer relies on manual driving,which is easy to cause staff poisoning by close contact,a remote control system of the sprayer is designed for the crawler orchard sprayer;The remote control system uses ECU as the control core,uses the flight control system to replace the traditional remote control system for wireless remote communication,and uses the hydraulic valve group to control the hydraulic cylinder to drive the action of the joystick,so as to realize the remote control of the spraying machine,such as start and stop,steering and spraying.The system is integrated on the crawler orchard sprayer,and the performance of the system is tested.The test results show that the effective remote control distance of the system is more than 200m.Under the condition that the remote control distance is not more than 200m,the response time of walking control is not more than 0.6s,and the remote control distance has little effect on the response time of the system;Through the method of manually cutting off the wireless signal,the simulated disconnection test is carried out.The test results show that the parking success rate of the sprayer after the disconnection of the remote control system reaches 100%;The system has the characteristics of fast response,stable communication and high security,and can meet the requirements of orchard spraying operation.

关 键 词：喷药机 履带式 遥控 液压 操纵机构 

分 类 号：S491[农业科学—植物保护]