郁闭果园图传遥控式割草机的设计与性能试验

doi:10.13229/j.cnki.jdxbgxb.20220194

吉林大学学报(工学版) ›› 2024, Vol. 54 ›› Issue (1): 281-293.doi: 10.13229/j.cnki.jdxbgxb.20220194

• 农业工程·仿生工程 • 上一篇

郁闭果园图传遥控式割草机的设计与性能试验

杨福增^1,²(),孙景彬^1,²,李亚男^1,²,张亚洲^1,²,刘志杰^1,³()

^1.西北农林科技大学机械与电子工程学院，陕西杨凌 712100
^2.农业农村部苹果全程机械化科研基地，陕西杨凌 712100
^3.农业农村部北方农业装备科学观测实验站，陕西杨凌 712100

收稿日期:2022-02-28 出版日期:2024-01-30 发布日期:2024-03-28
通讯作者: 刘志杰 E-mail:yangfzkm@nwafu.edu.cn;liuzhijie@nwafu.edu.cn
作者简介:杨福增（1966-），男，教授，博士.研究方向：基于无人机械的信息采集和集成技术.E-mail： yangfzkm@nwafu.edu.cn
基金资助:
陕西省科技重大专项项目(2020zdzx03-04-01)

Design and performance test of image transmission remote control mower in closed orchard

Fu-zeng YANG^1,²(),Jing-bin SUN^1,²,Ya-nan LI^1,²,Ya-zhou ZHANG^1,²,Zhi-jie LIU^1,³()

^1.College of Mechanical and Electronic Engineering，Northwest A&F University，Yangling 712100，China
^2.Apple Full Mechanized Scientific Research Base of Ministry of Agriculture and Rural Affairs，Yangling 712100，China
^3.Scientific Observing and Experimental Station of Agricultural Equipment for the Northern China，Ministry of Agriculture and Rural Affairs，Yangling 712100，China

Received:2022-02-28 Online:2024-01-30 Published:2024-03-28
Contact: Zhi-jie LIU E-mail:yangfzkm@nwafu.edu.cn;liuzhijie@nwafu.edu.cn

摘要/Abstract

摘要：

针对传统郁闭果园内部空间狭窄密闭，现有割草机难以进入作业，面临无机可用的生产难题，设计了一种适用于郁闭果园环境、割茬高度可调且株间避障灵活便捷的小型图传遥控式割草机。在分析郁闭果园种植模式和割草农艺要求的基础上，确定了割草机的总体设计方案，然后对割草机关键部件（刀盘高度调节机构、株间避障切割机构、遥控及图传系统等）进行了设计与匹配选型，最后完成了整机集成与性能试验。基本性能试验结果表明：割草机整机尺寸（长×宽×高）为1.9 m×1.7 m×0.7 m，割茬高度调节范围为30 ~110 mm，株间避障通过率为100%，遥控和图传距离均大于110 m。同时以前进速度、刀盘转速和割茬高度为试验因素，割茬稳定系数、割幅利用率和漏割率为试验性能指标开展正交试验，并对试验结果进行显著性分析。结果表明，各因素对割茬稳定系数、割幅利用率和漏割率性能指标影响的主次顺序均为前进速度、刀盘转速和割茬高度；确定的较优方案为前进速度0.6 m/s、刀盘转速3000 r/min、割茬高度70 mm，并对该较优方案进行了验证试验，结果表明：设计的新型割草机在该方案下割茬稳定系数为93.2%，割幅利用率为99.3%，漏割率为0.5%，能满足郁闭果园实际作业要求。

关键词: 割草机, 郁闭果园, 割茬高度调节, 株间避障, 遥控, 图传

Abstract:

Aiming at the narrow and airtight interior space of traditional canopy orchards， the existing lawn mowers are difficult to operate， and faced with the production problem that no machinery can be used， a small lawn mower with adjustable stubble height and flexible and convenient obstacle avoidance between plants was designed. On the basis of fully analyzing the planting mode of the closed orchard and the agronomic requirements of mowing， the overall design scheme of the mower was determined. The key components of the lawn mower （cutter height adjustment mechanism， obstacle avoidance cutting mechanism between plants， remote control and image transmission system， etc.） were designed and selected. And the whole machine integration and performance test were completed. The basic performance test results show that the size of the lawn mower （length × width × height） is 1.9 m × 1.7 m× 0.7 m， the stubble height adjustment range is 30~110 mm， and the obstacle avoidance rate between plants is 100%. The transmission distance is greater than 110 m. At the same time， taking forward rotation speed， cutter head rotation speed， cutting stubble height as test factors， cutting stability coefficient， cutting width utilization rate， missed cutting rate as test performance indicators， orthogonal tests were carried out， and the significance of test results was analyzed. The results show that the primary and secondary order of the influence of each factor on the performance indicators such as stubble stability coefficient， cutting width utilization rate and missed cutting rate are forward speed， cutter head rotation speed and cutting stubble height. The determined optimal scheme is the forward speed of 0.6 m/s， the cutter head rotation speed of 3000 r/min， and the cutting stubble height of 70 mm， and the verification test of the optimal scheme was carried out. The results show that the designed lawn mower has a stubble stability coefficient of 93.2%， a cutting width utilization rate of 99.3% and a missed cutting rate of 0.5% under this scheme， which can meet the actual operation requirements of the closed orchard.

Key words: lawn mower, closed orchard, stubble height adjustment, inter-plant obstacle avoidance, remote control, image transmission

中图分类号:

S224

杨福增,孙景彬,李亚男,张亚洲,刘志杰. 郁闭果园图传遥控式割草机的设计与性能试验[J]. 吉林大学学报(工学版), 2024, 54(1): 281-293.

Fu-zeng YANG,Jing-bin SUN,Ya-nan LI,Ya-zhou ZHANG,Zhi-jie LIU. Design and performance test of image transmission remote control mower in closed orchard[J]. Journal of Jilin University(Engineering and Technology Edition), 2024, 54(1): 281-293.

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参数	数值
轴距2a/mm	1100
轮距2b/mm	1200
行走轮宽度b₁/mm	150
车轮直径2r/mm	400

转向轨迹直径	左转	右转
D₁	1910	1900
D₂	1900	1780
D₃	1910	1880
D₄	1880	1890
D₅	1890	1870
D均值	1880
R_min	940

割茬高度	试验次数			均值	设计要求
割茬高度	1	2	3	均值	设计要求
h_smin	30	29	31	30	50
h_smax	109	111	110	110	100

测定内容	试验次数			均值
测定内容	1	2	3	均值
郁闭度	0.54
遥控距离/m	>115	>113	>112	>113
图传距离/m	>116	>115	>113	>115

水平	因素
水平	前进速度A/（m·s^-1）	割刀转速B/（r·min^-1）	割茬高度C/mm
-1	0.6	1800	50
0	1	2400	70
1	1.4	3000	90

郁闭果园图传遥控式割草机的设计与性能试验

Design and performance test of image transmission remote control mower in closed orchard

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试验号	A	B	C	割茬稳定系数/%	割幅利用率/%	漏割率/%
1	-1	0	1	93.5	99.3	0.8
2	0	-1	-1	90.1	97.8	0.9
3	0	1	-1	91.8	99.1	0.5
4	-1	0	-1	93.1	99.4	0.5
5	0	1	1	92.6	98.9	0.8
6	1	0	1	90.7	96.2	1.1
7	0	0	0	91.7	98.7	0.6
8	0	0	0	91.5	98.5	0.5
9	0	-1	1	90.7	96.8	0.9
10	1	0	-1	89.6	97.0	1.0
11	0	0	0	91.0	98.9	0.6
12	0	0	0	91.8	98.1	0.4
13	-1	-1	0	92.1	99.0	0.6
14	0	0	0	91.6	98.8	0.7
15	1	1	0	91.2	98.3	0.7
16	1	-1	0	89.8	95.3	1.3
17	-1	1	0	93.4	99.6	0.4

指标	因素	平方和	自由度	均方	F	P
割茬稳定系数	A	14.58	1	14.58	132.67	**
	B	4.96	1	4.96	45.14	**
	C	1.05	1	1.05	9.57	*
	残差	1.43	13	0.1099
	总和	22.02	16
割幅利用率	A	13.78	1	13.78	215.57	**
	B	6.13	1	6.13	95.81	**
	C	0.5512	1	0.5512	8.62	*
	残差	0.4475	7	0.0639
	总和	23.72	16
漏割率	A	0.405	1	0.405	40.79	*
	B	0.2112	1	0.2112	21.28	*
	C	0.0613	1	0.0613	6.17	*
	残差	0.0695	7	0.0099
	总和	1.03	16

试验指标		A	B	C
割茬稳定系数	k₁	93.0	90.7	91.2
	k₂	91.4	91.6	91.6
	k₃	90.3	92.3	91.9
	极差R	2.7	1.6	0.7
	优水平	A₁	B₃	C₃
	主次顺序		A>B>C
	较优方案		A₁B₂C₃
割幅利用率	k₁	99.3	97.2	98.3
	k₂	98.4	98.3	98.4
	k₃	96.7	99.0	97.8
	极差R	2.6	1.7	0.6
	优水平	A₁	B₃	C₂
	主次顺序		A>B>C
	较优方案		A₁B₃C₂
漏割率	k₁	0.58	0.93	0.73
	k₂	0.66	0.69	0.64
	k₃	1.03	0.60	0.90
	极差R	0.45	0.33	0.26
	优水平	A₁	B₃	C₂
	主次顺序		A>B>C
	较优方案		A₁B₃C₂

试验号	割茬稳定系数/%	割幅利用率/%	漏割率/%
1	93.5	99.6	0.6
2	93.3	99.2	0.3
3	93.8	99.7	0.5
平均值	93.2	99.3	0.5
正交试验结果	93.4	99.6	0.4

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