CAJ | 학술논문

株间机械除草技术与装置能有效摆脱田间除草的繁重体力劳动并消除化学除草方法所带来的危害，株间机械除草装置的牵引拖拉机在跟踪作物行时总会产生航向偏差，导致除草装置出现横向偏移，甚至无法进入除草的株间区域，同时还会增加伤苗率。为增大株间机械除草的作用区域和降低伤苗率，该文提出了通过作物行信息识别出株间机械除草装置与作物行横向偏移量的方法，并设计了株间机械除草作物行跟踪机构和控制器，实现了株间机械除草跟随作物行。采用正弦波和三角波2种标准信号作为横向偏移补偿量信号，对作物行跟踪控制器的性能进行了测试，试验结果表明：作物行跟踪控制器能较好地控制除草装置跟随横向偏移补偿信号，前进速度为0.5 m/s时正弦波信号跟踪最大误差10 mm，平均误差0.8 mm，三角波信号跟踪最大误差11 mm，平均误差1.2 mm。除草试验表明，作物行跟踪控制系统能较好地控制株间除草装置跟踪作物行，在0.5 m/s前进速度下跟踪最大误差为20.8 mm，平均误差2.5 mm；作物行跟踪控制明显减少了除草爪齿未进入株间区域的比例，在300 mm株距下，可保证93.3%的株间区域有除草爪齿进行除草作业，在200 mm株距下为85.9%；作物行跟踪控制降低了除草爪齿对作物的损伤，伤苗率从20%以上降到了12%以内，提高了株间机械除草的作业效果。
주간궤계제초기술여장치능유효파탈전간제초적번중체력노동병소제화학제초방법소대래적위해，주간궤계제초장치적견인타랍궤재근종작물행시총회산생항향편차，도치제초장치출현횡향편이，심지무법진입제초적주간구역，동시환회증가상묘솔。위증대주간궤계제초적작용구역화강저상묘솔，해문제출료통과작물행신식식별출주간궤계제초장치여작물행횡향편이량적방법，병설계료주간궤계제초작물행근종궤구화공제기，실현료주간궤계제초근수작물행。채용정현파화삼각파2충표준신호작위횡향편이보상량신호，대작물행근종공제기적성능진행료측시，시험결과표명：작물행근종공제기능교호지공제제초장치근수횡향편이보상신호，전진속도위0.5 m/s시정현파신호근종최대오차10 mm，평균오차0.8 mm，삼각파신호근종최대오차11 mm，평균오차1.2 mm。제초시험표명，작물행근종공제계통능교호지공제주간제초장치근종작물행，재0.5 m/s전진속도하근종최대오차위20.8 mm，평균오차2.5 mm；작물행근종공제명현감소료제초조치미진입주간구역적비례，재300 mm주거하，가보증93.3%적주간구역유제초조치진행제초작업，재200 mm주거하위85.9%；작물행근종공제강저료제초조치대작물적손상，상묘솔종20%이상강도료12%이내，제고료주간궤계제초적작업효과。
Intra-row mechanical weeding technique and device can free strenuous labor and eliminate the detriment of using chemical weed. The yaw error is barely avoidable when running a tracked crop-row tractor. It can result in an inconstant side-shift between the intra-row mechanical weed device and crop row and the increasing of crop damage and untreated weeds in intra-row area. The objective of this research is to develop a crop row tracking control algorithm for the optimized measurement of side-shift offset. The crop row line is obtained by using least square fit from 20 crops in several consecutive images, and the side-shift offset is estimated based on weeding device lateral position to keep a constant distance between the weeding device and crop row. Then, the PD control algorithm with bi-threshold dead band for transverse controller is developed to reduce the transverse error when the estimated offset exceeds the dead band. It needs to be ensured that the origin of the weeding device follows the desired route and parallels the crop row, by controlling velocity and direction of DC motor. The test results prove the good performance of standardized signal tracking using sine wave and triangle wave. The maximum and average sine wave tracking error is 10 mm and 0.8 mm, respectively, with a forward velocity of 0.2 m/s. The maximum and average triangle wave tracking error is 11 mm and 1.2 mm, respectively, with a forward velocity of 0.5 m/s. The results from weeding experiment in soil bin indicate that the side-shift enabled control of the transverse position of the weeding device and is able to follow the crop row line with an accuracy of ±13.4 mm at 0.2 m/s and ±20.8 mm at 0.5 m/s forward velocity. The untreated weeds in the intra-row area decreased significantly. The treated intra-row area achieve up to 93.3%and 85.9%of field surface for a mean plant spacing of 300 mm and 200 mm, respectively. The danger of crop damage is significantly reduced by using side-shift control. Compared to the rate of crop damage up to 20%without using the transverse controller, the rate of crop damage is down to less than 12% by using the side-shift control. The accuracy of intra-row weeding device tracking is high and acceptable.