Full
Outline
Aiming at the problems of poor terrain adaptability, inflexible movement and insufficient environmental friendliness of the current power equipment, a four-wheel multi-mode steering electric unmanned agricultural power equipment with an articulated frame and an independently driven steering wheel set was proposed to meet the operational needs of sowing, tillage, plant protection, transportation and other links in facility horticultural agricultural production. Firstly, the overall structure of the power equipment consisted of an articulated frame, an independently driven steering wheel set, a central suspension device and an electronic control system. It supported multiple steering modes, including two-wheel steering, four-wheel steering, on-the-spot steering and crab steering. Next, matching calculations were performed on key components of the power system, such as the drive motor, steering motor, PTO motor, and power battery. Subsequently, the dynamic motion characteristics of the agricultural power equipment under various steering modes were analyzed, and a multi-mode dynamic model was established. Finally, a hierarchical drive control method was applied in the mechatronic control system, and multiple field tests were carried out with driving speed, steering performance, climbing performance, stability of tillage depth, and endurance performance as evaluation indices. The test results showed that the equipment achieved an average driving speed of 9.67 km/h, the minimum turning radius of 1715.5 mm under four-wheel Ackerman steering, the maximum climbing grade was 15°, the coefficient of the tillage depth stability was 94.62%, and the battery runtime was 2.18~2.77 h. The equipment demonstrated excellent steering characteristics, passability, and operational stability, providing theoretical and technical support for the design of advanced small-and medium-sized intelligent agricultural machinery equipment.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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