果园作业机辅助采摘装置控制系统设计与试验

doi:10.13733/j.jcam.issn.2095-5553.2025.07.014

摘要/Abstract

摘要： 为提高果实采摘效率，实现果园收获环节的智能化作业，设计一套基于STM32单片机的果园作业机辅助采摘装置控制系统。该系统由核心控制器和无线控制器组成，核心控制器接收无线控制器的指令，控制采摘站台水平方向伸缩以及果实传送系统自调速运行。设计基于增量式PID控制算法的传送带自调速模块，能够根据果实数量自主调节传送带线速度；设计控制器温度自调节模块，当温度过高时自调节降至安全工作温度；设计无线通信模块，将作业人员的控制指令发送到核心控制器中，实现对采摘站台和果实传送系统的控制。试验结果表明：所设计的控制系统能够实现果实传送带的自适应调速、控制器温度过高自调节、采摘站台伸缩等功能，无线控制器通信距离在160 m内时数据丢失率小于10%。

关键词: 果园作业机, 辅助采摘装置, 无线控制, 传送带调速

Abstract: In order to improve the efficiency of fruit picking and realize the intelligent operation of orchard harvest, a control system of orchard machine auxiliary picking device based on STM32 is designed. The system consists of a core controller and a wireless controller. The core controller receives the instructions from the wireless controller to control the horizontal expansion and contraction of the picking platform and the self-regulating operation of the fruit conveyor system. A self-regulating module of fruit conveyor belt based on incremental PID control algorithm is designed, which can automatically adjust the linear velocity of conveyor belt according to the number of fruits. Then a temperature self-regulating module of core controller is designed. When the temperature of the core controller is too high, the temperature self-regulating module is able to adjust the temperature of the core controller to a reliable working temperature. A wireless communication module is designed, which can send control instructions of operators to the core controller to realize the control of the picking station and the fruit conveyor system. The test results indicate that the control system of orchard machine auxiliary picking device can realize the adaptive speed regulation of the fruit conveyor belt, the self-adjustment of the controller temperature, and the expansion and contraction of the picking platform. And the data loss rate is less than 10% when the communication distance of wireless controller is within 160 meters.

Key words: orchard operation machine, auxiliary picking device, wireless control, conveyor belt speed regulation

中图分类号:

任鹏钰, 高琦, 邱绪云, 宋裕民. 果园作业机辅助采摘装置控制系统设计与试验[J]. 中国农机化学报, 2025, 46(7): 91-96.

Ren Pengyu, Gao Qi, Qiu Xuyun, Song Yumin. Design and test of control system for auxiliary picking device of orchard operation machine[J]. Journal of Chinese Agricultural Mechanization, 2025, 46(7): 91-96.

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