自走式大豆表型采集平台底盘设计及试验  

Platform Chassis Design and Test of Self-propelled Soybean Phenotype Information Collection

作　　者：刘宇 张伟[1,2] 张博 付晓明[1,2] 亓立强 石文强[1,2] 吴宇通 Liu Yu;Zhang Wei;Zhang Bo;Fu Xiaoming;Qi Liqiang;Shi Wenqiang;Wu Yutong(College of Engineering,Heilongjiang Bayi Agricultural Reclamation University,Daqing 163319,China;Heilongjiang Conservation Tillage Engineering Technology Research Center,Daqing 163319,China)

机构地区：[1]黑龙江八一农垦大学工程学院,黑龙江大庆163319 [2]黑龙江省保护性耕作工程技术研究中心,黑龙江大庆163319

出　　处：《农机化研究》2025年第4期174-179,共6页Journal of Agricultural Mechanization Research

基　　金：国家现代农业产业技术体系专项(CARS-04-PS30);中国大学生创业实践项目(202110223130)。

摘　　要：针对现有作物表型采集平台通用性差,无法应用于北方寒地垄作密植大豆,为提高采集大豆表型效率,设计一种可实现垄间稳定行走、精准定位的自走式大豆表型信息采集平台底盘。根据垄作大豆种植模式与其形态特征进行结构设计,采用西门子SMART 200PLC控制行走系统与表型信息采集系统。试制样机测试采集平台作业性能,结果表明:设置平台在运输路面和垄间行驶速度为0.5 m/s时,运输路面上平均偏移率是0.047%,垄间平均偏移率是0.072%;在运输路面和垄间的定位平均标准偏差分别为12.7和3.05,平均相对标准偏差分别为10.7%和7.2%,研究可实现垄间稳定行走与精准定位作业,为垄作大豆表型信息检测提供了技术支持。In view of the poor universality of the existing crop phenotype detection platform,which can not be applied to the ridge planting and dense planting of soybean in the northern cold region,in order to improve the efficiency and accuracy of soybean phenotype detection,a self-propelled soybean phenotype information collection platform chassis that can achieve stable walking and precise positioning between ridges is designed.The structure is designed according to the planting mode and growth characteristics of ridge soybean,and the Siemens SMART 200PLC is used to control the walking system and phenotypic information collection system.The performance of the platform chassis is tested through field tests.The results show that the average deviation rate on the cement pavement is 0.047%and the average deviation rate between ridges is 0.072%when the driving speed between the cement pavement and the ridge is 0.5 m/s.The average standard deviation of positioning between cement pavement and ridge is 12.7 and 3.05 respectively;the average relative standard deviation was 10.7%and 7.2%respectively.It can realize stable walking and precise positioning between ridges,and provide technical support for phenotypic information detection of ridge soybean.

关 键 词：大豆 表型采集 自走式底盘 差速转向 

分 类 号：S219.3[农业科学—农业机械化工程]