首页|一种可智能升降电动万寿菊采摘机的设计与试验

一种可智能升降电动万寿菊采摘机的设计与试验

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万寿菊是重要的药食同源中药材,需求广泛,年种植量巨大.然而,由于收获要求高、花朵垂直分布范围大,其采摘目前依然只能手工完成,劳动强度大、效费比低,已严重制约了其产业的发展.为此,设计了一种全新的万寿菊采摘机,其主要由高通过性机架、电动驱动轮、智能升降采摘系统、激光雷达、储花袋和控制系统组成,锂电池组为全机提供动力.其一,该机梳齿式采摘台根据万寿菊生理参数和结构特点设计,以拔摘式方式摘除,其特点是进花率高、且对未达采摘要求的花苞误摘率低.其二,控制系统可据激光雷达数据求得万寿菊平均高度,并据此自主决定摘台位置,从而提高花朵采摘率,降低劳动强度,达到应收尽收.田间试验表明:该采摘机运行流畅,万寿菊平均高度的测量误差在1 cm之内.当梳齿间距为12 mm、梳齿长度为250 mm、前进速度为0.3 m/s时,采摘效果最佳,采摘率不低于91.55%,误摘率不超过8.82%.该成果是智能检测及控制系统在中药材收获领域的一次有益尝试,为精准农业理念更深入的推广应用提供了新借鉴.
Design and Experiment of an Intelligent Elevating Electric Marigold Picking Machine
Marigold is an important medicinal herb with wide demand and huge annual cultivation.However,due to the high harvesting requirements and the large vertical distribution range of flowers,its harvesting can still only be done manually,which is labor-intensive and has a low cost-effectiveness ratio,and has seriously restricted the de-velopment of its industry.To this end,this study designs a new marigold picking machine,which mainly consists of a high-throughput frame,electric drive wheels,intelligent lift picking system,laser radar,flower storage bag and con-trol system,and a lithium battery pack provides power for the whole machine.Firstly,the comb-type picking table of the machine is designed according to the physiological parameters and structural characteristics of marigolds,and is removed in a plucking manner,which is characterized by a high rate of flower entry and a low rate of mistakenly picking buds that do not meet the picking requirements.Secondly,the control system can obtain the average height of marigolds according to the LiDAR data and decide the position of the picking table accordingly,so as to improve the flower picking rate,reduce the labor intensity and achieve the best harvest.The field test shows that the picker runs smoothly and the measurement error of the average height of marigold is within lcm.When the comb spacing is 12 mm,the comb length is 250 mm,and the forward speed is 0.3 m/s,the picking effect is the best,the picking rate is not less than 91.55%,and the mispicking rate is not more than 8.82%.The result is a useful attempt of intelligent detection and control system in the field of herbal harvesting,which provides a new reference for the deeper populari-zation and application of the concept of precision agriculture.

marigoldpicking machinecomb-type picking tableintelligent elevation picking systemLiDAR

李彤、王关平、刘燕、孙伟、冯斌、贾尚云

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甘肃农业大学机电工程学院,甘肃兰州 730070

万寿菊 采摘机 梳齿式采摘台 智能升降采摘系统 激光雷达

2024

林业机械与木工设备
国家林业局哈尔滨林业机械研究所

林业机械与木工设备

影响因子:0.574
ISSN:2095-2953
年,卷(期):2024.52(8)