果园作业机辅助采摘装置控制系统设计与试验

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中图分类号：S24 文献标识码：A 文章编号：2095-5553（2025）07-0091-07

Abstract：Inordertoimprovetheeficiencyfruitpickingandrealizetheintellgentoperationorchardharvest， a controlsystem orchard machine auxiliary pickingdevice basedon STM32 is designed.Thesystem consists a corecontrolleranda wirelesscontroller.Thecorecontrollerreceives the istructions from the wirelesscontrollrtocontrol thehorizontal expansionandcontraction thepickingplatformandtheself-regulating operation the fruit conveyorsystem.Aself-regulating modulefruitconveyorbeltbasedonincrementalPIDcontrolalgorithmisdesigned， which canautomaticallyadjustthe linearvelocity conveyorbeltaccording tothenumber fruits.Thena temperatureself-regulating modulecorecontrolerisdesignedWhenthetemperaturethecorecontroleris too high， thetemperatureself-regulating moduleisabletoadjust the temperaturethecorecontroler toareliable working temperature.Awirelesscommunicationmoduleis designed，which cansendcontrol instructions operators to the corecontroler torealizethecontrol the picking stationandthefruit conveyor system.Thetest results indicate that thecontrolsystemorchard machineauxiliarypicking devicecanrealize theadaptive speedregulationthefruitonveyor belt，the self-adjustmentthe controler temperature，and the expansionand contraction the picking platform.And the data loss rate is less than 10% when the communication distance wireless controller is within 16O meters.

Keywords：orchard operation machine；auxiliary picking device；wireless control；conveyor belt speed regulation

0 引言

果园采摘作业是水果生产过程中最耗时、最费力的环节，现阶段果园采摘仍以人工为主，机械化程度低，劳动强度大、效率低，严重制约果业经济的发展。（剩余9408字）