农机化研究2026，Vol.48Issue(3)：17-24,33,9.DOI:10.13427/j.issn.1003-188X.2026.03.003
丘陵山区柑橘果园自动避障除草机设计与试验
Design and Experiment of Automatic Obstacle Avoidance Weeding Machine for Citrus Orchards in Hilly Mountainous Areas
摘要
Abstract
Aiming at the problems of poor adaptability in hilly orchards,high injury rates during operation and low inte-gration of agricultural machinery with agronomic practices for existing weeders,based on the standardized citrus orchard planting patterns with the standard of land improvement standards,a one-sided automatic obstacle avoidance weeder was designed.By analyzing the working condition of each component of the weeder,the structural form and parameters of key components were determined,such as obstacle avoidance sensing mechanism,cutter and obstacle avoidance actuator etc.,in which the maximum stroke of servo electric actuator was 50 mm,the maximum movement speed was 50 mm/s,and the minimum rotational speed of the cutter was 1,445 r/min.Taking the forward speed of the machine,the move-ment speed of servo electric actuator,and the spacing of lateral obstacle avoidance as the test factors,and the damage rate of fruit trees was taken as the evaluation index for the effect of obstacle avoidance,then design and conduct the com-bination test.Using Design-Expert 13 software to establish the regression model of fruit tree damage rate,conduct analy-sis of variance,and optimize the parameters of the combination,the results showed that when the forward speed of the machine was 0.26 m/s,the servo electric actuator move speed was 49.27 mm/s,and the lateral obstacle avoidance dis-tance was 617.74 mm,the obstacle avoidance effect was optimal,the fruit tree damage rate was 1.97%.Conducting field verification tests under the optimal combination,and the fruit tree damage rate of 3%was obtained,which was basi-cally consistent with the results of software analysis.This study can provide a reference for the research of standardized orchard intra-row weeding machinery in hilly and mountainous areas.关键词
除草机/株间除草/自动避障/损伤率/回归模型/标准化果园Key words
weed cutter/intra-row weeding/automatic obstacle avoidance/damage rate/regression model/standard-ized orchard分类
农业科技引用本文复制引用
Dong Jiwei,Cao Zhonghua,Li Yali,Pan Liang,Xu Ning,Zhan Xiaomei..丘陵山区柑橘果园自动避障除草机设计与试验[J].农机化研究,2026,48(3):17-24,33,9.基金项目
重庆市级财政青年专项基金项目(cqaas2023sjczqn006) （cqaas2023sjczqn006）
山东省技术创新引导计划(鲁渝科技协作)项目(2023LYXZ018) （鲁渝科技协作）
