可变参数果园作业平台测控系统的设计与试验

Design and experiment of measurement and control system for orchard operation platform with variable parameters

传统果园作业平台在进行举升和伸展时,通常需要作业人员手动控制,为改善这一现状,基于Arduino IDE开发环境,设计了一款可变参数果园作业平台测控系统。通过在车斗底部安装红外传感器获取车斗与底盘的距离信号,在车斗外侧安装超声波传感器获取车斗外侧与果树枝条的距离信号,之后人工测量并进行分析对比。田间试验表明:在控制车斗伸展尺寸的15组田间试验中,相对误差均小于等于1%。在控制车斗举升极限的10组田间试验中,相对误差均小于等于0.5%,设计满足农事作业要求。对比手动控制的传统手段,测控系统能根据树高和树形控制平台举升和伸展,有效节约了作业时间,提高了农事作业效率。

In order to solve the problem that the traditional orchard platform needs manual control when lifting and stretching, an orchard platform measurement and control system with variable parameters is designed based on Arduino IDE development environment. The distance signal between the cab and the chassis was obtained by installing an infrared sensor at the bottom of the cab, and the distance signal between the cab and the branches of fruit trees was obtained by installing an ultrasonic sensor at the outer side of the cab. Field tests showed that the relative error was less than or equal to 1% in the 15 groups of field tests which controlled the extension size of the trolley. The relative error was less than or equal to 0.5% in 10 sets of field tests which controlled the lifting limit of the bucket. Compared with the traditional means of manual control, the measurement and control system can lift and extend according to the tree height and the tree shape control platform. The operation time is effectively saved and the agricultural operation efficiency is improved.