果树株间避障除草机设计与试验

doi:10.13229/j.cnki.jdxbgxb.20211121

摘要/Abstract

摘要：

针对果树株间除草作业复杂、杂草除净率低的问题，基于机构往复式伸缩运动思想，设计了一种用于清理果树株间杂草的自动避障除草机。通过对除草机各部件进行理论分析，确定了工作幅宽调节机构、信号采集机构、自动避障机构和除草刀等关键部件的结构及参数。利用弧形触杆和液压系统的协同作用，构建了自动避障控制系统，可根据触杆的不同位置状态，动态控制除草刀避开果树植株。在ADAMS中建立了虚拟样机模型，并进行了单因素仿真试验，确定了影响株间避障除草的关键因素。以避障液压缸速度、机器前进速度和复位弹簧弹性系数作为主要影响因素，杂草除净比为评价指标，利用Box-Benhnken试验设计原理，采用三因素三水平响应面分析方法，设计了二次回归组合试验，建立了杂草除净比的回归模型，得到最优参数分别为：避障液压缸速度126 mm/s，机器前进速度1.57 km/h，弹性系数21。以最优参数进行了田间验证试验，结果表明，所设计的除草机平均杂草除净比为92.65%，达到了果园除草农艺要求。研究结果为果园及其他作物株间除草机的进一步优化提供了参考。

关键词: 农业工程, 除草机, 株间杂草, 自动避障, ADAMS

Abstract:

Aiming at the problems of complicated weeding operation among fruit trees and low weed removal rate， based on the idea of reciprocating telescopic motion of mechanism， an automatic obstacle avoidance weeding machine for clearing weeds among fruit trees was designed. The structure and parameters of key components such as working width adjustment mechanism， signal acquisition mechanism， automatic obstacle avoidance mechanism and weeding knife are determined by theoretical analysis of each component of the weeding machine. Using the synergy of the arc-shaped contact rod and the hydraulic system， an automatic obstacle avoidance control system is constructed， which can dynamically control the weeding knife to avoid fruit trees according to the different positions of the contact rod. A virtual prototype model was established in ADAMS， and a single factor simulation experiment was carried out to determine the key factors affecting the weeding and obstacle avoidance between plants. Taking the speed of the obstacle avoidance hydraulic cylinder， the forward speed of the machine and the elastic coefficient of the return spring as the main influencing factors， and the weed removal ratio as the evaluation index， according to the Box-Benhnken experimental design principle， using the three-factor and three-level response surface analysis method， a two The regression model of the weed removal ratio was established through the second regression combination test， and the optimal parameters were obtained as follows： the speed of the obstacle avoidance hydraulic cylinder is 126 mm/s， the forward speed of the machine is 1.57 km/h， and the elastic coefficient is 21. The field verification test was carried out， and the results showed that the average weed removal rate of the designed weeding machine was 92.65%， which met the agronomic requirements of orchard weeding. The research results provide a reference for the further optimization of the interplant weeder in orchards and other crops.

Key words: agricultural engineering, weeding machine, weeds between plants, automatic obstacle avoidance, ADAMS

中图分类号:

S224.1

王永烁,康建明,彭强吉,陈英凯,方会敏,牛萌萌,王少伟. 果树株间避障除草机设计与试验[J]. 吉林大学学报(工学版), 2023, 53(8): 2410-2420.

Yong-shuo WANG,Jian-ming KANG,Qiang-ji PENG,Ying-kai CHEN,Hui-min FANG,Meng-meng NIU,Shao-wei WANG. Design and experiment of obstacle avoidance weeding machine for fruit trees[J]. Journal of Jilin University(Engineering and Technology Edition), 2023, 53(8): 2410-2420.

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序号	X₁	X₂	X₃	除草比/%
1	-1.000	-1.000	0.000	88.23
2	1.000	-1.000	0.000	91.54
3	-1.000	1.000	0.000	87.58
4	1.000	1.000	0.000	89.45
5	-1.000	0.000	-1.000	87.93
6	1.000	0.000	-1.000	91.45
7	-1.000	0.000	1.000	89.34
8	1.000	0.000	1.000	91.35
9	0.000	-1.000	-1.000	91.95
10	0.000	1.000	-1.000	87.58
11	0.000	-1.000	1.000	90.44
12	0.000	1.000	1.000	90.64
13	0.000	0.000	0.000	89.10
14	0.000	0.000	0.000	88.89
15	0.000	0.000	0.000	89.45
16	0.000	0.000	0.000	89.52
17	0.000	0.000	0.000	89.64

方差来源	平方和	自由度	均方	F值	显著性水平
模型Model	30.56	9	3.40	36.04	<0.0001
X₁	14.34	1	14.34	152.15	<0.0001
X₂	5.99	1	5.99	63.56	<0.0001
X₃	1.02	1	1.02	10.88	0.0132
X₁X₂	0.52	1	0.52	5.55	0.0506
X₁X₃	0.57	1	0.57	6.03	0.0438
X₂X₃	5.22	1	5.22	55.44	0.0001
X₁²	0.069	1	0.069	0.73	0.4200
X₂²	0.0004	1	0.0004	0.004	0.9486
X₃²	2.86	1	2.86	30.32	0.0009
残差Residual	0.66	7	0.094	—	—
失拟Lack of Fit	0.27	3	0.091	0.94	0.4990
误差Pure Error	0.39	4	0.097	—	—
总和Cor Total	31.22	16	—	—	—

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