果树株间避障除草机设计与试验

doi:10.13229/j.cnki.jdxbgxb.20211121

Abstract

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

CLC Number:

S224.1

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.

Figures/Tables 13

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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	—	—	—

Design and experiment of obstacle avoidance weeding machine for fruit trees

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