林间病虫害树木巡检标记车的越障能力分析与试验研究

Analysis and Test Study on Obstacle-crossing Ability of Forest Pest and Disease Tree Patrol Marking Vehicle

为解决巡查林间病虫害过程部分病虫害树木不能及时发现从而造成经济损失、林间路况复杂导致巡林员经常受伤的问题,提出林间病虫害树木标记车,采用空心轴和实心轴向配合的四履带行走方式,使得整车在完成前后移动的同时也可以通过改变履带摆动角度来改变标记车位置,极大提高标记车通过性和越障能力。建立越障模型,得到林间病虫害树木标记车的参数和越障高度之间的关系。通过建立林间病虫害树木标记车多体动力学模型,进行双侧越障和单侧越障仿真试验,得到越障过程中摆臂力矩和摆臂角度的变换规律。试制模拟样机进行试验,结果表明林间病虫害标记车能够通过调整姿态通过林间的障碍物,完成对病虫害树木的标记。

In order to solve the problem that some pests and diseases can not be found in time during the forest inspection,resulting in economic losses,and the complex road conditions in the forest lead to frequent injury of forest patrollers,this paper proposes a forest pests and diseases tree marking vehicle,which adopts the four-track walking mode of hollow shaft and solid axial cooperation,so that the vehicle can change the position of the marking vehicle by changing the swing angle of the track while completing the front and back movement,It has greatly improved the passing ability and obstacle surmounting ability of the marked vehicle.In this paper,the obstacle surmounting model is established,and the relationship between the parameters of the tree marker vehicle and the obstacle surmounting height is obtained.Through establishing the multi-body dynamics model of the tree marker vehicle for forest diseases and insect pests,the simulation experiments of double-side obstacle crossing and single-side obstacle crossing were carried out,and the transformation laws of the swing arm moment and swing arm angle during obstacle crossing were obtained.The simulation prototype was trial-produced for test,and the results showed that the forest pest and disease marking vehicle could complete the marking of pest and disease trees by adjusting its posture through the obstacles in the forest.