Research On The Obstacle Avoidance System Of The Woodland Weeder

Aiming at the complex woodland and grassland environment in the hilly and mountainous areas of southern my country,and for the current situation where weeding work on woodland basically relies on manual manipulation and there are few professional weeders,this paper conducts research based on the obstacle avoidance requirements of self-propelled woodland weeders.Through the mechanical structure of the work tool,sensors,control units and obstacle avoidance algorithms,a forestland weeder operation obstacle avoidance system was constructed and its feasibility was verified.The research results have good engineering value.The specific research work is as follows:(1)In view of the structural characteristics of the woodland weeder and the grassland environment of the woodland,we have formulated strategies for weeding and obstacle avoidance in irregular ground,planting standard planting areas and unstructured planting areas with irregular planting line spacing,and proposed corresponding control methods,namely Passive obstacle crossing based on mechanical structure and active obstacle avoidance based on perception-algorithm-automatic control are used to complete the overall design of the obstacle avoidance control system.(2)In order to protect the tool and the need for simple and efficient identification,the terrain-like mechanical structure is used to avoid obstacles on irregular ground.The structure analysis is carried out for the wheel type,cross slide type and snowboard type that can avoid obstacles,and the mechanical structure simulation is clarified.The principle of terrain obstacle avoidance and the advantages of drag reduction and obstacle crossing,finally determined that the passive obstacle crossing structure of the work tool was an improved snowboard support.(3)In response to the need for weeding and obstacle avoidance in structured and unstructured spaces,a front-mounted ultrasonic sensor sensing system was built to complete the calculation and identification of the tree target distance,combined with the fuzzy control algorithm,and according to the operation requirements of the self-propelled weeding machine,the plant was actively realized.The variable amplitude obstacle avoidance of weeding near the roots and the whole vehicle bypass obstacle avoidance in the forest.Finally,through the simulation analysis and experimental research of the obstacle avoidance system,the rationality and feasibility of the forestland weeder obstacle avoidance system are verified.