Design of a wheeled multi-function autonomous operation platform in orchard

doi:10.13733/j.jcam.issn.2095-5553.2024.02.026

Abstract

Abstract: In order to realize the multifunctional application of orchard operation machinery, a wheeled orchard multifunctional autonomous navigation operation platform was designe with functions such as mowing, spraying and carrying was designed. The overall design of the multifunctional platform is carried out according to the operation requirements. The platform includes a power system, a walking system, a navigation system, a control system and operating devices. The selection of drive motor of the whole machine was determined according to the handling demand. The motion and dynamics of cutter were analyzed, and the model of cutter motor and electric push rod was determined according to cutting range and stability demand. According to the knowledge of fluid mechanics, the model of the pump that meets the spray width was determined by calculation, and other key components were selected by calculation. The prototype was tested on the minimum turning radius, grass cutting performance and spraying performance. The results showed that the minimum turning radius of the platform we designed is 120.75 cm, which meted the requirements of good passability between rows of orchard. The speed and height of cutter can be adjusted, the stubble height can be controlled within 5 cm, and the coverage rate of mowing operation is more than 91.25%. The spray pump can adjust the pressure according to the speed and tree shape, and the variation coefficient of spray uniformity is within 8.01%, which ensures the uniformity of spray and reduces the waste of pesticides.

Key words: orchard machinery, multifunctional operation, wheeled platform, autonomous navigation

摘要： 为实现果园作业机械的多功能应用,设计一款具备割草、喷药、搬运等功能的轮式果园多功能自主导航作业平台。根据作业需求对多功能平台进行总体设计,平台包括动力系统、行走系统、导航系统、控制系统、作业装置等。根据搬运需求计算确定整机驱动电机选型;对割刀进行运动和动力学分析,根据切削范围和稳定需求,计算确定割刀电机和电动推杆的型号;根据流体力学知识,计算确定满足喷药喷幅的药泵型号,并对其他关键部件进行计算选型。对样机进行最小转弯半径、割草性能、喷雾性能等基本性能试验。试验结果表明,所设计的平台最小转弯半径为120.75 cm,满足果园行间地头良好的通过性要求;割刀转速和高度可调,留茬高度可控制在5 cm以内,割草作业覆盖率在91.25%以上;喷药泵可根据车速、树形等进行压力调节,喷雾量均匀性变异系数在8.01%以内,保证喷雾均匀的同时减少农药浪费。

关键词: 果园机械, 多功能作业, 轮式平台, 自主导航

CLC Number:

S224.4: S229+.1

Chu Yangyang, Wang Bingqing, Xue Jinlin, Ma Zhengbao. Design of a wheeled multi-function autonomous operation platform in orchard[J]. Journal of Chinese Agricultural Mechanization, 2024, 45(2): 180-186.

褚阳阳, 汪冰清, 薛金林, 马拯胞. 轮式果园多功能自主导航作业平台设计[J]. 中国农机化学报, 2024, 45(2): 180-186.

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