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

Abstract

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

CLC Number:

S224

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

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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