Research Of Wine Grape Harvester Obstacle Avoidance System

Wine grapes in Xinjiang mainly use espalier cropping pattern,and most of tree forms were multi-generous fan-shaped.The grape line at 6~8 every meter set up columns,used to bind 3~5 wire wires to form a rack to support the vines.However,the main operations in the production of grapes like digging up vines,binding on shelves,weeding,loosening and burring vines can easy to cause the movement of column space position.As the tilted direction and angle of the columns in the same grape line varied,they were prone to collide with the upper ribs of the vibration separation device that is the main component of the wine grape harvester,which affected mechanized harvesting.Therefore,set of wine grape harvester obstacle avoidance system was studied and designed,provide reference for the development of wine grape harvester suitable for Xinjiang wine grape planting mode.1.After analyzing the spatial structure and working principle of the wine grape harvester,it was concluded that the operation of the vibrating separator of the wine grape harvester would be obstructed when the column tilted greater than 2°.The tilt angle of the columns and the distribution of grapevine leaves at the top of column was measured,it could be seen that 46% of the column tilt angle was greater than 2°,and the maximum tilt angle was as high as 11°.The distribution of the highest grain from the top of the columns were mainly in the bare type and vertical occlusion type,accounting for 38% and 34%respectively.The number of columns all covered with cane is the least,it only accounted for 8% of the total.Through the above analysis of obstacle avoidance needs,the overall design scheme of the obstacle avoidance system of wine grape harvester was put forward,and the composition and function of each part of the system were designed.2.On the basis of designing the detection mechanism with the angle sensor as the main transducer and determining the installation position of the detection mechanism,the relation between the deflection angle? and the angle ? between the column and the ground was got.And the obstacle avoidance strategy was proposed according to them.Through hydraulic analysis and load analysis,the hydraulic schematic diagram and parameters of hydraulic actuator were determined.3.According to the control needs,the selection of the angle sensor,PLC and A/D converter as well as the assignment of PLC data register and auxiliary relay were completed.Furthermore,the circuit connection diagram was designed.GX Developer and Kingview software were used to design A/D converter migration,gain adjustment program and PLC control program.Moreover,the input variable interface,monitoring interface,historical data query interface of host computer Kingview were also designed.4.The test bench of obstacle avoidance system was built.Taking the walking speed as well as the distance between the highest wire and the grape vine at the top of the column as the influencing factor,the performance test of the obstacle avoidance system detection module was carried out.And the results showed that the walking speed was 1km/h,the detection accuracy was 93.18%.Meanwhile,the number of the upper vine leaves had a certain influence on the detection accuracy.It had a great effect on the detection accuracy when column was all covered by the upper cane,while the effect was small when column was partially covered by the upper cane.Moreover,the obstacle avoidance system integration was tested and verified.The test results showed that the obstacle avoidance system can achieve obstacle avoidance demand.