枸杞株间电驱动避障除草机设计与试验  

Design and test of the intra-row electric driven obstacle avoidance weeder for wolfberry

作　　者：刘星星 车金宁 杨潇 胡太华 田文斌 郑永军[1] LIU Xingxing;CHE Jinning;YANG Xiao;HU Taihua;TIAN Wenbin;ZHENG Yongjun(College of Engineering,China Agricultural University,Beijing 100083,China)

机构地区：[1]中国农业大学工学院,北京100083

出　　处：《农业工程学报》2024年第23期104-114,共11页Transactions of the Chinese Society of Agricultural Engineering

基　　金：国家科技部项目(2020IM020901)。

摘　　要：针对现有枸杞株间除草机结构复杂、作业效率不高等问题,该研究设计了一种株间电驱动避障除草机。通过对除草机工作原理的分析,确定了关键组件及其参数,包括整机起降机构、信号采集机构、自动避障机构和除草刀盘等。确定自动避障控制系统设计方案,进行闭环控制系统的硬件选型与软件设计,对控制程序进行PID(proportion-integraldifferential,比例-积分-微分)参数整定。利用ADAMS创建除草机虚拟样机模型,通过单因素仿真试验,确定了前进速度、除草刀盘转速和信息采集传感器预设角度阈值为主要影响因素。设计并进行了二次回归组合试验,以除草率作为评估指标,通过试验建立除草率的回归模型,得到最优参数配置为:前进速度300 mm/s,除草刀盘转速300 r/min,预设角度阈值10°。田间验证试验在最优参数设置下得到平均除草率91.24%,验证了模型预测的准确性。结果可为枸杞及类似作物株间除草机设计及其工作原理研究提供科学依据。Weeds as co-occurring vegetation have posed significantly impacts on the growth and yield of wolfberry during cultivation.As such,effective weed management is critical to the wolfberry orchard maintenance.However,most currently available hydraulic drives can lead to the complex structures and substantial weight in the existing intra-row weeding machines.The maneuverability of the equipment can also be constrained to increase manufacturing complexity and cost,leading to the low operational efficiency.In this study,an intra-row electric electric-driven weeder was designed with for obstacle avoidance.The weeder consisted of a frame,the take-off and landing mechanism,transmission,weeding,obstacle avoidance,and power supply.The frame served as the overall installation carrier for obstacle avoidance and weed removal machines.The weeding device mainly consisted of a DC motor module,chain transmission,and weeding cutter.The DC motor module was provided the power for the rotation of the weeding cutter through a chain drive.The automatic obstacle avoidance device was composed of a signal acquisition mechanism,servo motor modules,and a four-bar mechanism.The weeder was powered by an external 24V DC generator and a battery pack.The automatic obstacle avoidance control system consisted of signal acquisition,monitoring feedback,program control,and a servo motor module.The signal acquisition was used to obtain the accurate position information of wolfberry in real-time,and then transmitted into the program control section.The theoretical driving signal was then calculated to dynamically control the speed and rotation angle of the servo motor module.The monitoring feedback section was used to determine the deviation that generated by the contact between the contact rod and wolfberry plants.The difference between the preset deviation threshold was monitored in real time.The feedback information was then transmitted to the program control section,which was compared with the theoretical driving signal of the servo motor module,and

关 键 词：农业机械 电驱动 株间除草机 自动避障 ADAMS 参数优化 

分 类 号：S224.15[农业科学—农业机械化工程]