基于VFH+的自走式景观割草机设计与性能试验OA

Aiming at the intelligent needs of efficient lawn mowing and landscape modeling in urban gardens,a self-propelled landscape mower based on the Vector Field Histogram Plus(VFH+)algorithm is designed.Adams and Workbench software were used to design the cutting structure and modal analysis,and Design—Expert software was used to carry out the experimental design.The regression model is established,the parameters are optimized and verified,and the obstacle avoidance simulation test environment model is built in Matlab.The performance test of the whole machine shows that the actual stubble height adjustment range is 40-110 mm and the actual stubble amplitude adjustment range is 350-550 mm;the modal analysis results show that the corresponding resonance frequencies of the cutter set are 34 Hz,41 Hz,and 58 Hz,and no resonance phenomenon occurs when the cutter speed avoids the above frequency range.The operational performance test results show that when the driving speed is 5 km/h,the rotational speed of the mower is 3 000 r/min and the stubble height is 70 mm,the stubble stabilization rate is 92.5%,the cutting width utilization rate is 99.3% and the missed cut loss rate is 0.3%,which meets the basic requirements of the mowing operation.Obstacle avoidance performance test results show that:based on the VFH+obstacle control algorithm mower's actual obstacle avoidance through rate of 100%,obstacle avoidance performance to meet the requirements of the operation,has a good throughput.