机器人踩踏式除草过程仿真分析与试验研究

踩踏式除草是有效的有机水田除草方式，对该除草过程进行仿真分析与评价可为除草机器人的设计提供重要参考。以踩踏式除草机器人为研究对象，基于ANSYS/LS-DYNA软件中的SPH（smoothed particle hydrodynamics，平滑粒子流体动力学）算法建立机器人踩踏式除草过程的有限元模型，分析了除草机器人与有机水田的土层、水层之间的多相耦合关系，并模拟了踩踏式除草的动态过程。基于踩踏式除草机理，分析了影响踩踏式除草效果的因素，并提出了除草效果的综合评价方法。基于仿真和试验，研究了机器人质量、运动速度和水层厚度对踩踏式除草效果的影响，并通过对比试验验证了所构建有限元模型的可靠性以及所提出评价方法的有效性。在此基础上，设计了正交仿真试验，分析了机器人质量、运动速度和水层厚度对踩踏式除草效果的影响程度。研究结果表明：建立的除草机器人与土层、水层之间的多相流耦合模型可以很好地描述踩踏式除草的动态过程；3种因素对踩踏式除草效果影响的主次顺序为机器人运动速度、水层厚度、机器人质量，合理配置工作参数可以提升除草效果。研究结果丰富了多相流动态建模方法，并为除草机器人作业参数的选择提供了依据。

Simulation analysis and experimental research on robot pedaling weeding process

Pedaling weeding is an effective weeding method in the organic paddy field, and the simulation analysis and evaluation for this weeding process can provide important reference for the design of weeding robots. Taking the pedaling weeding robot as the research object, based on the SPH (smoothed particle hydrodynamics) algorithm in the ANSYS/LS-DYNA software, the finite element model of the robot pedaling weeding process was established, and the multi-phase coupling relationship between the weeding robot and the soil layer and water layer of the organic paddy field was analyzed, and then the dynamic process of pedaling weeding was simulated. Based on the mechanism of pedaling weeding, the factors affecting the pedaling weeding effect were analyzed, and a comprehensive evaluation method of weeding effect was put forward. The effects of robot mass, motion speed and water layer thickness on the pedaling weeding effect were studied based on the simulation and experiment, and the reliability of the constructed finite element model and the effectiveness of the proposed evaluation method were verified by comparative experiments. On this basis, orthogonal simulation experiments were carried out to analyze the influence degree of robot mass, motion speed and water layer thickness on the pedaling weeding effect. The results showed that the multi-phase flow coupling model between the weeding robot and soil layer and water layer could well describe the dynamic process of pedaling weeding. The primary and secondary order of the influence of three factors on the pedaling weeding effect was as follows: robot motion speed, water layer thickness and robot mass, and reasonable configuration of these working parameters could improve the weeding effect. The research results enrich the dynamic modeling method of multi-phase flow and provide a basis for the selection of operation parameters of weeding robots.