篱架式栽培葡萄双边作业株间自动避障除草机设计与试验
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摘要
针对现有篱架式栽培葡萄园中株间除草机作业效率不高、葡萄藤周围未除草区域较大等问题,该文设计了一种双边作业的株间自动避障除草机。通过对除草单体各部件进行理论分析,确定了行宽调节机构、信号采集机构、自动避障机构和除草刀盘等关键部件的结构及参数,其中避障液压缸行程为150 mm,除草刀盘半径为150 mm。在ADAMS中建立了除草机虚拟样机模型,进行单因素仿真试验,确定了避障液压缸速度、前进速度和控制系统预设的当触杆转动达到一定角度触发自动避障机构工作的阈值(简称"角度阈值")为主要影响因素。以仿真得到的3个主要影响因素为试验因素,以除草作业覆盖率为评价指标,设计了二次回归组合试验,建立了除草作业覆盖率的回归模型,得到最优参数分别为:避障液压缸速度160 mm/s,前进速度380 mm/s,角度阈值15.12?。在最优参数下进行了田间验证试验,得到平均除草作业覆盖率约为90.02%。采取双边同时作业方式,作业效率比单边作业方式提高约1倍。该研究为可用于篱架式栽培葡萄及其他作物株间除草机的进一步优化提供参考。
Considering the problems of low efficiency and large area without weeding around the vine after operation, a bilateral operation intra-row auto obstacle avoidance weeder for trellis cultivated grape was designed. The weeder consisted of frame, hydraulic system, transmission system, land wheel and weeding device. Frame was installation carrier for all of machine components. Hydraulic system was used to provide power for weeder, driving two hydraulic motors and four hydraulic cylinders. Transmission system was the medium which transmitted power from tractor to hydraulic system. Land wheel made it possible to adjust the weeding depth. Weeding device was the key component for the weeder, and it was composed of row width adjustment mechanism, signal acquisition mechanism, auto obstacle avoidance mechanism and weeding cutter head. The extending distance of row width adjustment mechanism could be adjusted from 0 to 400 mm to adapt different row spacings in different fileds. The specific location of the grape vine could be identified correctly with signal acquisition mechanism. And the obstacle avoidance mechanism could avoid weeding cutter head from contacting the grape vine, which probably caused injuries. The weed was destroyed under high-speed rotation of weeding cutter head driven by hydraulic motor. The parameters of these key components of weeding monomer were determined by theoretical analysis and experiment. In order to research the effects of structural and operation parameters of automatic obstacle avoidance weeder, a brief virtual prototype model was built in ADAMS software, and key components were parameterized simultaneously. To simplify calculation, using link mechanism to replace the complex machine and constraints were set between different links. Kinematics simulations was carried out using virtual prototype model, and the simulation results of operating trajectory of weeding cutter head agreed with theoretical analysis. Then single factor simulation experiments were carried out in ADAMS with the coverage rate of weeding selected as the evaluation index. The simulation results confirmed that speed of obstacle avoidance hydraulic cylinder, operating speed of the weeder and angle threshold(defined as the rotation angle of feeler lever when control system triggered the automatic obstacle avoidance mechanism) were the main influence factors. Operating speed and angle threshold had positive impact on it, while speed of obstacle avoidance hydraulic cylinder had negative impact on it. In addition, quadratic regression general combination experiments were conducted by taking speed of obstacle avoidance hydraulic cylinder, operating speed and angle threshold as the experiment factors and coverage rate of weeding as the evaluation index. Analysis of variance(ANOVA) was performed to find the statistically significant parameters in field experiments and quadratic regression model was set up by response surface methodology with Design-Expert 8.0.6. It was showed that speed of obstacle avoidance hydraulic cylinder, operating speed and angle threshold were extremely significantly(P<0.01) effective parameters, and the interaction of speed of obstacle avoidance hydraulic cylinder speed, operating speed and angle threshold were significantly(P<0.05) effective on coverage rate of weeding. Furthermore, the optimizing function of Design-Expert 8.0.6 was used for the optimization in this paper and the results showed that when speed of obstacle avoidance hydraulic cylinder was 160 mm/s, operating speed was 380 mm/s and angle threshold was 15.12°, the optimal average coverage rate of weeding was 90.15%. Field experiment with the optimal combination of key parameters were carried out to testify the validity of optimization. The coverage rate of weeding was 90.02%, which is 0.67 percentage points higher than the results of quadratic regression general combination tests. This study could provide a reference for further research of intra-row weeder for trellis cultivated grape and other plants.
Considering the problems of low efficiency and large area without weeding around the vine after operation, a bilateral operation intra-row auto obstacle avoidance weeder for trellis cultivated grape was designed. The weeder consisted of frame, hydraulic system, transmission system, land wheel and weeding device. Frame was installation carrier for all of machine components. Hydraulic system was used to provide power for weeder, driving two hydraulic motors and four hydraulic cylinders. Transmission system was the medium which transmitted power from tractor to hydraulic system. Land wheel made it possible to adjust the weeding depth. Weeding device was the key component for the weeder, and it was composed of row width adjustment mechanism, signal acquisition mechanism, auto obstacle avoidance mechanism and weeding cutter head. The extending distance of row width adjustment mechanism could be adjusted from 0 to 400 mm to adapt different row spacings in different fileds. The specific location of the grape vine could be identified correctly with signal acquisition mechanism. And the obstacle avoidance mechanism could avoid weeding cutter head from contacting the grape vine, which probably caused injuries. The weed was destroyed under high-speed rotation of weeding cutter head driven by hydraulic motor. The parameters of these key components of weeding monomer were determined by theoretical analysis and experiment. In order to research the effects of structural and operation parameters of automatic obstacle avoidance weeder, a brief virtual prototype model was built in ADAMS software, and key components were parameterized simultaneously. To simplify calculation, using link mechanism to replace the complex machine and constraints were set between different links. Kinematics simulations was carried out using virtual prototype model, and the simulation results of operating trajectory of weeding cutter head agreed with theoretical analysis. Then single factor simulation experiments were carried out in ADAMS with the coverage rate of weeding selected as the evaluation index. The simulation results confirmed that speed of obstacle avoidance hydraulic cylinder, operating speed of the weeder and angle threshold(defined as the rotation angle of feeler lever when control system triggered the automatic obstacle avoidance mechanism) were the main influence factors. Operating speed and angle threshold had positive impact on it, while speed of obstacle avoidance hydraulic cylinder had negative impact on it. In addition, quadratic regression general combination experiments were conducted by taking speed of obstacle avoidance hydraulic cylinder, operating speed and angle threshold as the experiment factors and coverage rate of weeding as the evaluation index. Analysis of variance(ANOVA) was performed to find the statistically significant parameters in field experiments and quadratic regression model was set up by response surface methodology with Design-Expert 8.0.6. It was showed that speed of obstacle avoidance hydraulic cylinder, operating speed and angle threshold were extremely significantly(P<0.01) effective parameters, and the interaction of speed of obstacle avoidance hydraulic cylinder speed, operating speed and angle threshold were significantly(P<0.05) effective on coverage rate of weeding. Furthermore, the optimizing function of Design-Expert 8.0.6 was used for the optimization in this paper and the results showed that when speed of obstacle avoidance hydraulic cylinder was 160 mm/s, operating speed was 380 mm/s and angle threshold was 15.12°, the optimal average coverage rate of weeding was 90.15%. Field experiment with the optimal combination of key parameters were carried out to testify the validity of optimization. The coverage rate of weeding was 90.02%, which is 0.67 percentage points higher than the results of quadratic regression general combination tests. This study could provide a reference for further research of intra-row weeder for trellis cultivated grape and other plants.
引文
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[2]白勇,王晓燕,胡光,等.非化学方法在农田杂草防治中的应用[J].农业机械学报,2007,38(4):191-196.Bai Yong,Wang Xiaoyan,Hu Guang,et al.Review of the development in non-chemical weed management[J].Transactions of the Chinese Society for Agricultural Machinery,2007,38(4):191-196.(in Chinese with English abstract)
[3]Cordill C,Grift T E.Design and testing of an intra-row mechanical weeding machine for corn[J].Biosystems Engineering,2011,110(3):247-252.
[4]Midtiby H S.Estimating the plant stem emerging points(PSEPs)of sugar beets at early growth stages[J].Biosystems Engineering,2012,111(1):83-90.
[5]刘文,徐丽明,邢洁洁,等.作物株间机械除草技术的研究现状[J].农机化研究,2017,39(1):243-250.Liu Wen,Xu Liming,Xing Jiejie,et al.Research status of mechanical intra-row weed control in row crops[J].Journal of Agricultural Mechanization Research,2017,39(1):243-250.(in Chinese with English abstract)
[6]Melander B.Intelligent versus non-intelligent mechanical intra-row weed control in transplanted onion and cabbage[J].Crop Protection,2015,72:1-8.
[7]Norremark M.The development and assessment of the accuracy of an autonomous GPS based system for intra-row mechanical weed control in row crops[J].Biosystems Engineering,2008,101(4):396-410.
[8]Norremark M.Evaluation of an autonomous GPS-based system for intra-row weed control by assessing the tilled area[J].Precision Agriculture,2012,13(2):149-162.
[9]Cordill C,Grift T E.Design and testing of an intra-row mechanical weeding machine for corn[J].Biosystems Engineering,2011,110(3):247-252.
[10]胡炼,罗锡文,张智刚,等.株间除草装置横向偏移量识别与作物行跟踪控制[J].农业工程学报,2013,29(14):8-14.Hu Lian,Luo Xiwen,Zhang Zhigang,et al.Side-shift offset identification and control of crop row tracking for intra-row mechanical weeding[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2013,29(14):8-14.(in Chinese with English abstract)
[11]胡炼,罗锡文,张智刚,等.基于余摆运动的株间机械除草爪齿避苗控制算法[J].农业工程学报,2012,28(23):12-18.Hu Lian,Luo Xiwen,Zhang Zhigang,et al.Control algorithm for intra-row weeding claw device based on trochoidal motion[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2012,28(23):12-18.(in Chinese with English abstract)
[12]胡炼,林潮兴,杨伟伟,等.株间除草装置的除草和避苗状态切换控制系统设计[J].沈阳农业大学报,2014,45(3):305-309.Hu Lian,Lin Chaoxing,Yang Weiwei,et al.Design of switch controlling system between the state of weeding and avoiding for intra-row weed mechanical control device[J].Journal of Shenyang Agricultural University,2014,45(3):305-309.(in Chinese with English abstract)
[13]张朋举,张纹,陈树人,等.八爪式株间机械除草装置虚拟设计与运动仿真[J].农业机械学报,2010,41(4):56-59.Zhang Pengju,Zhang Wen,Chen Shuren,et al.Virtual design and kinetic simulation for eight claw intra-row mechanical weeding device[J].Transactions of the Chinese Society for Agricultural Machinery,2010,41(4):56-59.(in Chinese with English abstract)
[14]陈树人,张朋举,尹东富,等.基于LabVIEW的八爪式机械株间除草装置控制系统[J].农业工程学报,2010,26(增刊2):234-237.Chen Shuren,Zhang Pengju,Yin Dongfu,et al.Control system of eight claw intra-row mechanical weeding device based on LabVIEW[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2010,26(Supp.2):234-237.(in Chinese with English abstract)
[15]韩豹,申建英,李悦梅.3ZCF-7700型多功能中耕除草机设计与试验[J].农业工程学报,2011,27(1):124-129.Han Bao,Shen Jianying,Li Yuemei.Design and experiment of 3ZCF-7700 multi-functional weeding-cultivating machine[J]Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2011,27(1):124-129.(in Chinese with English abstract)
[16]葛玉晓.大豆株间除草装置设计与试验研究[D].哈尔滨:东北农业大学,2016.Ge Yuxiao.Design and Experimental Study on Intra-row Weeding Equipment for Soybean[D].Harbin:Northeast Agricultural University,2016.(in Chinese with English abstract)
[17]徐丽明,于畅畅,刘文,等.篱架式栽培葡萄株间除草机自动避障机构优化设计[J].农业工程学报,2018,34(7):23-30.Xu Liming,Yu Changchang,Liu Wen,et al.Optimal design of intra-row weeder’s auto obstacle avoidance mechanism for trellis grape[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2018,34(7):23-30.(in Chinese with English abstract)
[18]常运涛,陈爱军,万保雄,等.葡萄V形、篱架式改造成高宽垂架式[J].南方园艺,2010,21(4):17-20.
[19]陈国才,邦生.机械化保护性耕作新型机具-浅耕除草机[J].当代农机,2007(11):70-71.
[20]刘增华,李芾,傅茂海,等.空气弹簧的刚度及阻尼特性研究[J].机车电传动,2005(4):16-19.Liu Zenghua,Li Fu,Fu Maohai,et al.Study on stiffness and damping characteristic of air spring[J].Electric Drive for Locomotives,2005(4):16-19.(in Chinese with English abstract)
[21]李增刚.ADAMS入门详解与实例[M].北京:国防工业出版社,2006:171-176.
[22]杜岳峰,毛恩荣,宋正河,等.基于ADAMS的玉米植株收获过程仿真[J].农业机械学报,2012,43(增刊1):106-111.Du Yuefeng,Mao Enrong,Song Zhenghe,et al.Simulationon corn plants in harvesting process based on ADAMS[J].Transactions of the Chinese Society for Agricultural Machinery,2012,43(Supp.1):106-111.(in Chinese with English abstract)
[23]邢俊文,陶永忠.MSC.ADAMS-View高级培训教程[M].北京:清华大学出版社,2004.
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