胡萝卜联合收获机智能监控系统设计与试验

Design and Experiment of Intelligent Monitor System for Carrot Combine Harvester

针对目前国内胡萝卜联合收获过程中智能化水平低、无法对机具作业情况进行监测等问题,设计了一种可搭载在胡萝卜联合收获机上的智能监控系统。智能监控系统主要包括胡萝卜联合收获机自适应带速调节模块、胡萝卜堵塞监测模块、胡萝卜果实计数模块、人机交互模块及位置信息模块等。监控系统以STM32F103单片机为主控制器,信息采用CAN总线传输,应用多种传感器融合技术,实现胡萝卜联合收获作业信息采集与调控。胡萝卜联合收获机自适应带速调节模块基于模糊PID控制算法,通过传感器收集机具作业速度、夹持输送带带速及夹持输送装置倾角,采用脉宽调制控制电磁阀开度调节夹持输送带带速,实现胡萝卜收获过程中机具自适应调节作业状态。运用Matlab软件进行胡萝卜联合收获自适应带速调节模型对比试验,仿真试验结果表明,该模型鲁棒性好,超调量低;田间试验表明,各模块监测精度均大于等于96%,自适应带速调节模块误差小于等于0.1 m/s,带速响应时间小于等于0.8 s,调整时间小于等于1.6 s。该智能监控系统满足机具田间作业要求,实现了对胡萝卜联合收获作业的实时监测与夹持输送带带速自动控制。

In order to solve the problems of low intelligence and inability to monitor the operation of the machine in the process of carrot combine harvest in China,an intelligent monitor system which can be mounted on the carrot combine harvest machine was developed.The intelligent monitor system mainly included the carrot combine harvest adaptive speed regulation module,the carrot jam monitor module,the carrot fruit counting module,the man-machine interaction module and the position information module.The monitor system was mainly controlled by STM32F103 single chip microcomputer,information was transmitted by CAN bus,and a variety of sensor fusion technologies were applied to realize information collection and regulation of carrot joint harvest operation.Carrot harvest adaptive tape speed regulating module based on the fuzzy PID control algorithm collected machine operating speed,clamping angle conveyor belt speed and gripping delivery mechanism through the sensors,by using pulse width modulation control solenoid valve opening clamping conveyor belt speed adjustment to realize the carrot harvest machines adaptive adjusting job status.The experimental results showed that the model had good robustness and low overshoot.Field experiments showed that the monitor accuracy of each module was not less than 96%,the error value of the adaptive belt speed regulation module was not more than 0.1 m/s,the belt speed response time was no more than 0.8 s,and the adjustment time was no more than 1.6 s.The intelligent monitor system can meet the requirements of field operation and realize the real-time monitor of carrot combine harvest and automatic control of clamping conveyor belt speed,which was beneficial to the development of carrot intelligent combine harvest.