山地果园单轨运输机超声波避障系统的设计与试验

为避免山地果园单轨运输机运行时碰到前方穿越的移动物体或轨道上的静止障碍物,提高运输机工作的安全性和稳定性,研制了山地果园单轨运输机超声波避障系统。该系统由核心微处理器、超声波探头及收发电路、电源模块、无线通信模块和按键等组成。以规则物块、不规则小石块等作为轨道上的障碍物,以树枝、侧枝较多的盆栽柑橘树作为轨道旁的非障碍物,将超声波探头安装在3个不同位置,使运输机工作在慢、中、快3个不同的速度,测试了避障系统的工作性能。试验结果表明,在一定条件下,避障系统能识别轨道上的障碍物和轨道旁的非障碍物。该研究提升了单轨运输机在轨道上无人驾驶运行的安全性和可靠性。

Design and test of ultrasonic obstacle avoidance system for mountain orchard monorail conveyor

In order to avoid the mountain orchard monorail conveyor having a crash with the moving objects across the monorail or motionless obstacles on the monorail in front of the conveyor which was running on the monorail, and improving the conveyor's operation safety and stability, an ultrasonic obstacle avoidance system for the monorail conveyor had been developed.The system was composed of microprocessor, ultrasonic probe and its transmit-receive circuit, power module, wireless communication module, keys and so on.A series of test had been taken for testing the conveyor's operation performance.In the tests, regular objects and irregular small stones were simulated as obstacles on the monorail, tree branches and potted citrus with many lateral branches had been taken as non-obstacles beside the monorail.In each test, the ultrasonic probe was installed in three different positions on the front of the monorail conveyor respectively, and the conveyor's running speed was fixed at fast (4.32 km/h), medium (2.88 km/h) and slow(1.44 km/h) three types of different speeds.Test results showed, the obstacle-avoidance system could identify the obstacles on the monorail and the non-obstacles beside the monorail, which could promote operation safety and stability of the monorail conveyor when it run on the monorail unmanned.