| With the continuous deepening of the concept of sustainable development of modern agriculture,people’s awareness of environmental protection and crops’ green organic awareness is increasing day by day.Organically cultivated rice without pesticides has become more and more popular,and the planting area has been expanding year by year.Compared with other weeding methods,using the robots for weeding operations is more conducive to the sustainable development of agriculture.In addition,pedal weeding is an effective way of weeding in organic paddy fields,and the analysis and evaluation of the pedal weeding process is an important basis for robot design.Due to the strong seasonality,high cost,and long period of field weeding experiments,simulation modeling can simulate the robot’s weeding process and analyze the weeding performance,which has significant advantages such as short period and flexible change.Therefore,this research is of great significance.This paper analyzed the current research status of simulation modeling and performance evaluation of weeding process at home and abroad.Then,based on the SPH algorithm of ANSYS/LS-DYNA,a multiphase flow coupling model between the pedaling components of the robot and the soil and water layer was established,in order to analyze the dynamic relationship among the pedaling components,water layer and mud layer during the process of robot pedaling and weeding.In addition,based on the pedaling weeding mechanism,the factors affecting the weeding performance were analyzed,and based on the simulation model and the comprehensive evaluation method of the weeding performance,the index extraction method were proposed.Finally,based on simulation and field experiments,the effects of robot motion factors,structural factors and paddy field environmental factors on the performance of weeding were discussed,and the feasibility of the simulation model and the effectiveness of the proposed method were proved through comparative experiments.Based on the above research,an orthogonal experiment was designed to further analyze the comprehensive influence of various factors on the weeding performance.Research and test results show that based on the SPH algorithm of ANSYS/LS-DYNA,the multiphase flow coupling model between the robot,soil and water layer can describe the dynamic process of pedaling weeding well.Specifically,the experimental and simulated values of the proposed pedaling performance index and the comprehensive evaluation function are basically consistent with the simulation value,proving the correctness of the simulation model and the reliability of the evaluation method.In addition,the robot’s motion speed,crawler inclination,crawler block shape and gap,surface shape of soil,sinking amount,and water layer thickness affect the robot’s weeding performance.Reasonable matching of working parameters can improve the weeding performance. |
