Authors

Abstract

To address the issue where the straw-raking speed of the designed soybean inter-row weeder cannot be adjusted automatically with the implement's forward speed, leading to straw accumulation and seedling damage, a variable-speed operation method based on GNSS positioning combined with encoder-based speed measurement is proposed. Through theoretical analysis and preliminary test results, a straw-raking control system for the soybean inter-row weeder was designed, utilising GNSS positioning and encoder-based speed measurement. This system employs an STM32 microcontroller as the main controller, establishing rules for the integrated speed measurement mode and the straw-turning control unit. A dedicated control interface was developed for the system. By configuring operational parameters such as working mode and straw density, the system dynamically adjusts the operating speed of the straw-turning motor in real-time based on integrated speed measurement data from GNSS and encoders, thereby achieving synchronisation with the implement's forward speed. The study focused on evaluating the impact of the straw-raking control system on the performance of a soybean inter-row weeder. Field performance comparison trials were conducted at three operating speeds (3, 5, and 7 km·h⁻¹), using the presence or absence of the straw-raking control system as a control. Results indicated that at 7 km·h⁻¹, the average weed removal rate, seedling damage rate, and straw coverage were 95.35%, 3.10%, and 41.89% respectively. Compared to the control without straw-raking control, the average weed removal rate and straw coverage increased by 2.52% and 4.95% respectively, while the average seedling damage rate decreased by 2.28%. This demonstrates that the application of the straw-raking control system in soybean inter-row weeders further enhances the operational performance of the weeder. It meets the agronomic requirements for soybean inter-row weeding and provides practical technical reference for the application of mechanical weeding control systems.

Abstract in Chinese

针对所设计大豆行间除草机拨秸转速不能随机具前进速度调整作业转速容易导致秸秆堆积压苗的问题，提出了一种基于GNSS定点与编码器融合测速的变速作业方法。通过结合理论分析与预试验结果，设计了一种基于GNSS定点与编码器融合测速的大豆行间除草机拨秸控制系统，该系统以 STM32单片机为主控器，完成了融合测速模式规则与拨秸控制单元的建立，搭建了并开发该系统配套的控制界面，通过设置作业模式与秸秆密度等作业参数，根据GNSS与编码器的融合测速信息实时调节拨秸电机的作业转速，从而实现与机具前进速度的匹配；重点对拨秸控制系统对大豆行间除草机的性能影响进行了研究，以有无拨秸控制系统调节为对照，进行了3种作业速度（3、5、7 km·h-1）下的田间性能对照试验。试验结果表明：当作业速度为7 km·h-1时，除草率、伤苗率和秸秆覆盖率平均值分别为95.35%、3.10%和41.89%，相较于无拨秸控制系统的平均除草率和平均秸秆覆盖率分别提高了2.52%和4.95%，平均伤苗率降低了2.28%，表明大豆行间除草机拨秸控制系统的应用进一步提高了除草机的作业性能，其满足大豆行间除草农艺要求，为机械除草控制系统的应用提供了实用技术参考。