Authors

Abstract

To address the challenges of low transplanting efficiency, poor planting accuracy, and high labor intensity associated with manual Panax notoginseng transplanting in the hilly and mountainous regions of Yunnan, as well as the limited adaptability of existing transplanting equipment to narrow ridged fields and steep, complex terrain, this study developed a self-propelled, fully electric tracked chassis tailored to the agronomic requirements of Panax notoginseng transplanting. The study included the overall structural design, selection and matching of the power battery and drive transmission system, and development of a dimensionless ratio-coefficient control model relating planting spacing to travel and transplanting speeds under the constraint of the manual seedling-feeding speed. An integrated electronic control system was developed to provide remote-controlled travel, speed-synchronized transplanting control, and straight-line deviation correction. The stability and dynamic performance of the chassis were analyzed theoretically and subsequently validated through field tests under multiple operating conditions. Theoretical results showed that the chassis had a maximum lateral roll angle of 39.19°, a maximum traction force of 7,524 N, and sufficient power reserve for operation on slopes of up to 25°. Field tests demonstrated that, after correction using the speed-adjustment coefficient, the straight-line deviation over a travel distance of 30 m was limited to within 1.1%, exceeding the requirements of the relevant national standard. The measured pivot-turning offset was approximately 191 mm, in close agreement with the theoretical value. Key performance indicators, including slope-climbing stability, ridge-travel stability, and motor thermal stability, all met the applicable national standards. The developed chassis effectively improves the adaptability of transplanting equipment for Panax notoginseng production in hilly and mountainous regions and significantly enhances the automation level and planting accuracy of transplanting operations. This study provides theoretical and technical support for the intelligent development of transplanting equipment for rhizomatous medicinal plants.

Abstract in Chinese

针对云南丘陵山区三七人工移栽效率低、栽植精度差、劳动强度大，且现有移栽装备难以适配垄上窄幅作业与陡坡复杂地形的产业痛点，本文设计一款适配三七移栽农艺需求的丘陵山区自走式纯电动履带底盘。完成整机结构方案设计、动力电池与驱动传动系统的选型匹配，基于人工投苗速度极限建立株距与行走-移苗速度的无量纲配比系数调控模型，开发集遥控行走控制、随速协同移栽控制、直线度纠偏控制于一体的电控系统，并开展整机稳定性与动力性能的理论计算，以及多工况田间性能验证试验。理论计算结果表明：该底盘横向极限倾翻角达39.19°，最大牵引力7524 N，动力储备满足25°陡坡作业；田间试验结果显示：经速度修正系数纠偏后，整机30 m行程直线度误差可控制小于1.1%，优于国家标准限值；原地转向中心偏移量实测约191 mm，符合理论计算值；爬坡稳定性、垄上行驶稳定性及电机热稳定性等核心性能指标均满足相关国标要求。该底盘有效解决丘陵山区三七移栽的装备适配难题，显著提升移栽作业的自动化水平与栽植精度，可为根茎类中药材移栽装备的智能化升级提供理论与技术支撑。