本文選題：機械收獲 + 機械沖擊　； 參考：《浙江理工大學(xué)》2017年碩士論文

【摘要】：中國是世界林果種植大國,種類繁多、產(chǎn)量巨大。但是新鮮林果在鮮果市場中的供應(yīng)方式主要以人工采摘為主。雖然在果品采收過程中可以利用機械裝置代替手工勞動,但是不穩(wěn)定的采收效率和高比例的果實損傷始終阻礙著采收設(shè)備的發(fā)展。為改善現(xiàn)有收獲設(shè)備的采收性能以及驗證經(jīng)典動力學(xué)采收模型,本學(xué)位論文開發(fā)了一種扁球型傳感器記錄林果在振動采收過程的動態(tài)信息,綜合評判林果所受沖擊情況,并對比理論分析結(jié)果找到差異。本文主要的工作和研究成果如下:1.分析了“電子果實”動態(tài)信息獲取技術(shù)的基本原理,在已有果樹動力學(xué)模型的研究基礎(chǔ)上建立了無柄果實的“果實-樹體”振動動力學(xué)方程,建立拉格朗日振動微分方程并求解得到果實的單擺模型運動方程。研究果實與樹體的分離條件可知:當(dāng)在較小果實的情況下可忽略自身重力和切向慣性力作用,法向慣性力為影響果實脫落的主要參數(shù),即法向慣性力大于果實-樹體結(jié)合力。得到果實脫落的實際條件,這不僅從理論角度分析了果實脫落的影響因素也為電子果實對模型的驗證實驗提供了依據(jù)。2.設(shè)計了電子果實各部分系統(tǒng)實現(xiàn)。硬件部分主要采用Atmega-328p MCU、1GSD存儲模塊、7.4V電源模塊、ADXL345加速度檢測單元和3.3V穩(wěn)壓電路組成;控制系統(tǒng)的主要功能包括:I/O口阻態(tài)控制、傳感器初始化設(shè)置、振動信號檢測、采集數(shù)據(jù)存儲;基于Matlab的上位機分析軟件能夠加載數(shù)據(jù)信息,采用Fourier算法處理采集信號,并輸出振動波形。3.完成了電子果實的檢測精度校核實驗。由試驗結(jié)果可知:電子果實的X軸檢測誤差范圍在5.6%-6.4%之間,Y軸檢測誤差范圍在4.4%-4.9%之間,Z軸檢測誤差范圍在3.3%-3.6%之間可以滿足農(nóng)業(yè)使用要求。對已建立的果實-樹體動力學(xué)模型進行了驗證試驗,通過4組驗證試驗發(fā)現(xiàn)電子果實在慣性力的作用下擺幅為25.5mm,分離力為11.32N,理論模型計算值為17.25N,比果實-果柄結(jié)合力大,證明果實脫落過程中法向慣性力起主要作用。根據(jù)電子果實采集的運動加速度計算得到分離力為11.4N,所以根據(jù)理論模型計算的分離慣性力值可以滿足實際果實脫落條件。進行了電子果實野外試驗,通過四組試驗數(shù)據(jù)可知:電子果實在采收過程中可分為采摘階段和下落階段兩大部分。采摘階段的平均沖擊最大值和平均沖擊均值分別為215g和123g,下落階段所產(chǎn)生的最大沖擊平均值和平均沖擊均值分別155g和76g。研究四組沖擊數(shù)據(jù)的機械沖擊分布模式不難發(fā)現(xiàn)超過190g的沖擊個數(shù)約占總比例的6%,150g-190g范圍內(nèi)的平均沖擊個數(shù)約占總比例的18%,100g到150g范圍內(nèi)的平均沖擊個數(shù)約占總沖擊個數(shù)的37%,50g-100g的機械沖擊平均個數(shù)約占總沖擊個數(shù)的6%。
[Abstract]:China is a big country of forest and fruit planting in the world, with a great variety and huge output. But the supply mode of fresh forest fruit in fresh fruit market is mainly artificial picking. Although manual labor can be replaced by mechanical devices in the process of fruit harvesting, unstable harvesting efficiency and high percentage of fruit damage always hinder the development of harvesting equipment. In order to improve the harvesting performance of the existing harvesting equipment and to verify the classical dynamic harvesting model, a flat spherical sensor was developed to record the dynamic information of the harvesting process in vibration. And compare the theoretical analysis results to find the difference. The main work and research results of this paper are as follows: 1. In this paper, the basic principle of "electronic fruit" dynamic information acquisition technology is analyzed. Based on the existing dynamic model of fruit tree, the vibration dynamic equation of "fruit tree" without handle fruit is established. The Lagrange vibration differential equation is established and the equation of motion of the fruit is obtained. The study on the separation condition of fruit and tree shows that the normal inertia force is the main parameter to affect the fruit shedding, that is, the normal inertial force is greater than the fruit-tree binding force when the fruit is smaller than the tangential inertial force and the normal inertial force is the main parameter affecting the fruit shedding. The actual conditions of fruit shedding were obtained, which not only analyzed the influencing factors of fruit shedding theoretically, but also provided the basis for the verification experiment of electronic fruit to the model. The system realization of electronic fruit is designed. The hardware is mainly composed of Atmega-328p MCUU 1GSD memory module (7.4V), ADXL345 acceleration detection unit and 3.3V voltage stabilizing circuit, the main functions of the control system include: I / O port resistance control, sensor initialization setting, vibration signal detection, data acquisition and storage. The upper computer analysis software based on Matlab can load the data information, use the Fourier algorithm to process the collected signal, and output the vibration waveform. 3. The testing accuracy of electronic fruit was verified. The results showed that the error range of X axis detection of electronic fruit was between 5.6% and 6.4%, and the error range of Y axis detection was between 4.4% and 4.9%. The error range of Z axis detection was between 3.3% and 3.6%, which could meet the requirements of agricultural application. The established fruit-tree dynamics model was verified by four groups of experiments. It was found that the electronic fruit swung 25.5 mm under the action of inertial force, the separation force was 11.32 N, and the calculated value of theoretical model was 17.25 N, which was greater than that of fruit and fruit stalk. It is proved that the normal inertial force plays a major role in the process of fruit shedding. The separation force is 11.4N according to the acceleration calculation of the electronic fruit collection, so the separation inertia force calculated by the theoretical model can satisfy the actual condition of fruit shedding. The field experiment of electronic fruit was carried out. Through four groups of experimental data, it can be concluded that the electronic fruit can be divided into two parts: picking stage and falling stage. The mean and average impact values of the harvest stage were 215g and 123g, respectively, and the mean values of the maximum impact and the average impact in the falling stage were 155g and 76g, respectively. It is not difficult to find that the number of shocks over 190g is about 6% of the total, and the average number of shocks in the range of 150g ~ 190g is about 18 / 100g to 150g / 150g, respectively, by studying the mechanical shock distribution model of the four groups of shock data. The average number of shocks in the range of 100g to 150g is about the total impact. The average number of mechanical shocks of 50 g to 100 g is about 6% of the total number of shocks.
【學(xué)位授予單位】：浙江理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：S225.93

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