基于可编程逻辑控制器的核桃振动采收控制系统设计与仿真

doi:10.11707/j.1001-7488.LYKX20240430

摘要/Abstract

摘要：

目的: 为解决传统核桃人工采收方式存在的采收难度大、效率低、成本高等问题，根据我国核桃种植区域向标准化果园发展的趋势，设计基于可编程逻辑控制器（PLC）的核桃振动采收控制系统，并通过仿真试验验证该系统的可行性，以提高核桃振动采收自动化水平，降低人工采收难度，提高采收效率。方法: 基于激光雷达采集树干点云，在Visual Studio 2017环境下对数据进行预处理，分割出最佳点云强度处的树干信息，采用最小二乘圆拟合方法提取树干直径；应用MATLAB软件设计模糊PID控制器，利用Simulink搭建系统框图找出控制器的最优参数，提高核桃振动采收控制系统的可行性；运用TIA Portal软件设计PLC程序，实现振动臂伸缩功能、夹持功能以及振动功能；使用组态王软件设计人机界面，通过以太网实现PLC与人机界面通讯，实现系统运行后的实时监控；通过仿真和实物试验对核桃振动采收控制系统的可行性进行验证。结果: 应用MATLAB软件得出控制器的最优参数分别为K_p=7.682、K_i=5.675、K_d=1.675。不同移动距离、树干直径的夹持力和振动频率仿真验证结果显示，在伸缩距离为20~100 cm时，误差为0.02%~0.15%；树干直径为15~20 cm时，夹持力误差稳定在1.20%~2.72%；振动频率误差为0.67%~3.00%。通过实机采收验证，控制系统能够准确控制振动臂进行移动、夹持和振动，采净率均在81%以上，且采收效率达到人工采收的7倍以上。结论: 本研究提出并设计一款基于PLC的核桃振动采收控制系统，通过仿真试验验证了系统的可行性。该振动采收控制系统适用于标准果园内的核桃采收，为核桃振动采收智能化提供了科学依据和实际指导，有效提高了核桃采收效率。

关键词: 控制系统, 振动采收, 树干识别, 可编程逻辑控制器

Abstract:

Objective: To solve the problems of difficult harvesting, low efficiency, and high cost existing in the traditional manual harvesting method of walnuts. According to the development trend of walnut planting areas in China towards standardized orchards, a walnut vibration harvesting control system based onprogrammable logic controller (PLC) is designed. And the feasibility of the walnut vibration harvesting control system is verified through simulation tests, so as to improve the automation level of walnut vibration harvesting, reduce the difficulty of manual harvesting, and increase the harvesting efficiency. Method: The trunk point cloud is collected by a LiDAR. The data is preprocessed in the Visual Studio 2017 environment, and the trunk information at the optimal point cloud intensity is segmented. The trunk diameter is extracted by using the least square circle fitting method. A fuzzy PID controller is designed by applying the MATLAB software. The system block diagram is built by Simulink to find the optimal parameters of the controller, so as to improve the feasibility of the walnut vibration harvesting control system. The PLC program is designed by using the TIA Portal software to realize the functions of the telescopic vibration arm, clamping function, and vibration function. The human-machine interface is designed by using the Kingview software, and the communication between the PLC and the human-machine interface is realized through ethernet to achieve real-time monitoring after the system runs. The feasibility of the walnut vibration harvesting control system is verified through simulation and physical experiments. Result: By applying the MATLAB software, the optimal parameters of the controller are obtained as K_p = 7.682, K_i = 5.675, and K_d = 1.675. The simulation verification results of the clamping force and vibration frequency under different moving distances and trunk diameters show that when the telescopic distance is between 20 and 100 cm, the error is between 0.02% and 0.15%; when the trunk diameter is between 15 and 20 cm, the clamping force error is stable between 1.20% and 2.72%; and the vibration frequency error is between 0.67% and 3.00%. Through the verification of actual harvesting, the control system can accurately control the movement, clamping, and vibration of the vibration arm. The harvesting efficiency is more than 7 times that of manual harvesting, and the harvesting completion rate is above 81%. Conclusion: In this study, a walnut vibration harvesting control system based on PLC is proposed and designed, and the feasibility of the system is verified through simulation tests. This vibration harvesting control system is suitable for walnut harvesting in standardized orchards, provides a scientific basis and practical guidance for the intelligentization of walnut vibration harvesting, and effectively improves the walnut harvesting efficiency.

Key words: control system, vibrating harvesting, tree trunk recognition, programmable logic controller (PLC)

中图分类号:

S225

茹煜,徐国鹏,范高鸣,李秋洁,易永魁,丁莉,周宏平. 基于可编程逻辑控制器的核桃振动采收控制系统设计与仿真[J]. 林业科学, 2025, 61(8): 11-24.

Yu Ru,Guopeng Xu,Gaoming Fan,Qiujie Li,Yongkui Yi,Li Ding,Hongping Zhou. Design and Simulation of Walnut Vibration Harvesting Control System Based on PLC[J]. Scientia Silvae Sinicae, 2025, 61(8): 11-24.

图/表 30

图1

图2

图3

图4

表1

图5

图6

表2

图7

表3

图8

图9

表4

表5

图10

图11

图12

图13

图14

图15

图16

图17

表6

表7

表8

表9

图18

图19

图20

表10

参考文献 0

	宫峥嵘, 王一峰, 王　翰, 等. 核桃矿质营养研究进展. 林业科学, 2021, 57 (1): 178- 190. doi: 10.11707/j.1001-7488.20210119
	Gong Z R, Wang Y F, Wang H, et al. Research progress on mineral nutrition of walnut. Scientia Silvae Sinicae, 2021, 57 (1): 178- 190. doi: 10.11707/j.1001-7488.20210119
	郭关柱, 杨李洋, 罗亚南, 等. 基于无人机平台的气振式核桃采收机设计与试验. 农业机械学报, 2024, 55 (1): 55- 64. doi: 10.6041/j.issn.1000-1298.2024.01.005
	Guo G Z, Yang L Y, Luo Y N, et al. Design and validation of pneumatic vibration walnut picking machine carried by UAV. Transactions of the Chinese Society for Agricultural Machinery, 2024, 55 (1): 55- 64. doi: 10.6041/j.issn.1000-1298.2024.01.005
	黄志鑫, 邢　涛, 邢艳秋. 基于背包激光扫描点云强度的胸径提取方法研究. 遥感技术与应用, 2021, 36 (6): 1284- 1293.
	Huang Z X, Xing T, Xing Y Q. Study on extraction method of DBH based on intensity of backpack laser scanning point cloud. Remote Sensing Technology and Application, 2021, 36 (6): 1284- 1293.
	李　斌, 杨星宇, 刘向新, 等. 核桃机械化收获装置研究现状与展望. 中国农机化学报, 2024, 45 (8): 1- 7, 42.
	Li B, Yang X Y, Liu X X, et al. Research status and prospect of mechanized harvesting device for walnut. Journal of Chinese Agricultural Mechanization, 2024, 45 (8): 1- 7, 42.
	李启丙. 基于组态软件的PLC控制系统全软件仿真. 机电工程技术, 2021, 50 (4): 135- 137.
	Li Q B. Full software simulation of PLC control system based on configuration software. Mechanical & Electrical Engineering Technology, 2021, 50 (4): 135- 137.
	李秋洁, 徐　波, 束义平, 等. LiDAR探测自动对靶喷雾控制系统设计. 农机化研究, 2019, 41 (8): 65- 71. doi: 10.3969/j.issn.1003-188X.2019.08.011
	Li Q J, Xu B, Shu Y P, et al. Design of automatic target spray control system based on LiDAR. Journal of Agricultural Mechanization Research, 2019, 41 (8): 65- 71. doi: 10.3969/j.issn.1003-188X.2019.08.011
	刘　浩, 戴　宁. 基于树干振动原理的核桃采收机设计. 机械制造与自动化, 2023, 52 (1): 226- 229.
	Liu H, Dai N. Design of walnut harvester based on trunk vibration. Machine Building & Automation, 2023, 52 (1): 226- 229.
	麻丽明, 樊新乾. 基于组态王生产线故障报警监控系统的设计. 机电工程技术, 2022, 51 (1): 139- 142. doi: 10.3969/j.issn.1009-9492.2022.01.035
	Ma L M, Fan X Q. Design of fault alarm monitoring system based on KingView production line. Mechanical & Electrical Engineering Technology, 2022, 51 (1): 139- 142. doi: 10.3969/j.issn.1009-9492.2022.01.035
	麻卫峰, 王金亮, 麻源源, 等. 改进K均值聚类的点云林木胸径提取. 测绘科学, 2021, 46 (9): 122- 129.
	Ma W F, Wang J L, Ma Y Y, et al. An improved K-means clustering method for DBH extraction from point cloud. Science of Surveying and Mapping, 2021, 46 (9): 122- 129.
	乔园园, 牛长河, 孟详金, 等. 牵引式林果振动采收机的设计与田间试验. 新疆农业科学, 2015, 52 (3): 528- 534.
	Qiao Y Y, Niu C H, Meng X J, et al. Design of traction type fruit harvest machine and its experimental research in fields. Xinjiang Agricultural Sciences, 2015, 52 (3): 528- 534.
	茹　煜, 范高鸣, 徐国鹏, 等. 核桃振动采收研究现状与发展趋势. 林业工程学报, 2024, 9 (1): 21- 31.
	Ru Y, Fan G M, Xu G P, et al. Research status and development trend of walnut vibration harvesting. Journal of Forestry Engineering, 2024, 9 (1): 21- 31.
	石昌玉, 丁禹程, 曲　文, 等. 定制化被动式木门窗材柔性分类智能控制系统设计. 森林工程, 2024, 40 (3): 162- 169.
	Shi C Y, Ding Y C, Qu W, et al. Design of customized passive wood door and window material flexible classification intelligent control system. Forest Engineering, 2024, 40 (3): 162- 169.
	师素文, 张广红, 吴爱国. 基于PLC的万吨液压机控制系统设计. 制造技术与机床, 2005, (9): 34- 37. doi: 10.3969/j.issn.1005-2402.2005.09.011
	Shi S W, Zhang G H, Wu A G. Design of PLC-based control system for 10 000 t hydraulic press. Manufacturing Technology & Machine Tool, 2005, (9): 34- 37. doi: 10.3969/j.issn.1005-2402.2005.09.011
	束义平, 李秋洁, 周宏平, 等. 基于激光雷达探测的变量喷雾控制系统设计. 林业工程学报, 2020, 5 (1): 139- 147.
	Shu Y P, Li Q J, Zhou H P, et al. Design of variable rate spray control system based on LiDAR detection. Journal of Forestry Engineering, 2020, 5 (1): 139- 147.
	王长勤, 许林云, 周宏平, 等. 基于PLC和MCGS的偏心式林果振动采收机控制系统设计. 农机化研究, 2013, 35 (3): 79- 83. doi: 10.3969/j.issn.1003-188X.2013.03.018
	Wang C Q, Xu L Y, Zhou H P, et al. Design of control system for eccentric-type forest-fruit vibration harvesting machine based on PLC and MCGS software. Journal of Agricultural Mechanization Research, 2013, 35 (3): 79- 83. doi: 10.3969/j.issn.1003-188X.2013.03.018
	夏小强. 基于PLC的采摘车控制系统设计. 工业控制计算机, 2023, 36 (12): 152- 153. doi: 10.3969/j.issn.1001-182X.2023.12.063
	Xia X Q. Design of PLC based control system for picking trucks. Industrial Control Computer, 2023, 36 (12): 152- 153. doi: 10.3969/j.issn.1001-182X.2023.12.063
	徐景中, 贾潇冉, 程昭文. 基于分层聚合的行道树点云树干检测方法. 激光与光电子学进展, 2023, 60 (12): 445- 452.
	Xu J Z, Jia X R, Cheng Z W. Detection method of street tree trunks from point clouds based on multilayer aggregation. Laser & Optoelectronics Progress, 2023, 60 (12): 445- 452.
	姚宗旭, 张维国, 郭　帅, 等. 基于PLC智能控制的某球团厂放料测试研究. 有色设备, 2021, 35 (5): 29- 32.
	Yao Z X, Zhang W G, Guo S, et al. Research on the discharging test of a pelletizing plant based on PLC intelligent control. Nonferrous Metallurgical Equipment, 2021, 35 (5): 29- 32.
	叶青青. 一种基于PLC控制的机械手液压系统设计. 电子制作, 2023, 31 (14): 17- 20. doi: 10.3969/j.issn.1006-5059.2023.14.005
	Ye Q Q. Design of a manipulator hydraulic system based on PLC control. Practical Electronics, 2023, 31 (14): 17- 20. doi: 10.3969/j.issn.1006-5059.2023.14.005
	赵艳莉, 赵　倩, 李志强. 基于PLC的山核桃破壳自动化生产线控制系统研究. 食品与机械, 2023, 39 (1): 111- 115, 194.
	Zhao Y L, Zhao Q, Li Z Q. Research on control system of Carya cathayensis shell breaking automatic production line based on PLC. Food & Machinery, 2023, 39 (1): 111- 115, 194.
	祝前峰, 陆荣鉴, 刘　彬, 等. 核桃采摘机械研究现状与发展趋势. 林业和草原机械, 2021, 2 (1): 45- 53.
	Zhu Q F, Lu R J, Liu B, et al. Research status and development trend of walnut picking machinery. Forestry and Grassland Machinery, 2021, 2 (1): 45- 53.
	朱世超, 王骋程, 王　超, 等. 基于支持向量聚类和模糊粗糙集的交通流数据修复方法. 森林工程, 2023, 39 (1): 157- 165. doi: 10.3969/j.issn.1006-8023.2023.01.019
	Zhu S C, Wang C C, Wang C, et al. Missing traffic flow data imputation based on support vector clustering and fuzzy rough set. Forest Engineering, 2023, 39 (1): 157- 165. doi: 10.3969/j.issn.1006-8023.2023.01.019
	朱兆廷, 孙玉军, 梁瑞婷, 等. 基于树冠和竞争因子的杉木胸径估测. 北京林业大学学报, 2023, 45 (9): 42- 51. doi: 10.12171/j.1000-1522.20230011
	Zhu Z T, Sun Y J, Liang R T, et al. Estimating DBH of Cunninghamia lanceolata based on crown and competition factors. Journal of Beijing Forestry University, 2023, 45 (9): 42- 51. doi: 10.12171/j.1000-1522.20230011
	Cao J L, Bai X P, Xu D C, et al. Experiment and analysis on walnut (Juglans regia L. ) shedding force based on low-frequency vibration response. Industrial Crops and Products, 2023, 204, 117242. doi: 10.1016/j.indcrop.2023.117242
	Castro-Garcia S, Aragon-Rodriguez F, Sola-Guirado R R, et al. Vibration monitoring of the mechanical harvesting of Citrus to improve fruit detachment efficiency. Sensors, 2019, 19 (8): 1760. doi: 10.3390/s19081760
	Du X Q, Chen K Z, Ma Z H, et al. Design, construction, and evaluation of a three-dimensional vibratory harvester for tree fruit. Applied Engineering in Agriculture, 2020, 36 (2): 221- 231. doi: 10.13031/aea.13478
	Du X Q, Jiang F, Li S T, et al. Design and experiment of vibratory harvesting mechanism for Chinese hickory nuts based on orthogonal eccentric masses. Computers and Electronics in Agriculture, 2019, 156, 178- 186. doi: 10.1016/j.compag.2018.11.027
	Du X Q, Wu C Y, He L Y, et al. Dynamic characteristics of dwarf Chinese hickory trees under impact excitations for mechanical fruit harvesting. International Journal of Agricultural and Biological Engineering, 2015, 8 (1): 17- 25.
	Jiao H B, Luo J M, Tang A F, et al. Design and testing of the double-symmetric eccentric exciter for fruit tree vibration harvest. Agriculture, 2024, 14 (4): 570. doi: 10.3390/agriculture14040570
	Liu C Y, Xu D C, Cao J L. Vibration response of walnuts under vibration harvesting. Agronomy, 2023, 13 (2): 461. doi: 10.3390/agronomy13020461
	Luo L P, Zhai Q P, Su Y J, et al. Simple method for direct crown base height estimation of individual conifer trees using airborne LiDAR data. Optics Express, 2018, 26 (10): A562- A578. doi: 10.1364/OE.26.00A562
	Na L. 2019. Application of siemens Smart200 and S7-1200 PLC complex instructions in industrial automation. Proceedings of 2019 International Conference on Information Science, Medical and Health Informatics(ISMHI 2019), Yinchuan College of China University of Mining and Technology, 6.
	Shaheed B N, Selman N H. Design and implementation of a control system for a steel plate cutting production line using programmable logic controller. International Journal of Electrical and Computer Engineering (IJECE), 2023, 13 (4): 3969- 3976. doi: 10.11591/ijece.v13i4.pp3969-3976

参数 Parameter	数值Value
尺寸 Dimension	103 mm×72 mm
质量 Quality	830 g
工作温度 Operating temperature	?10~60 ℃
测量数据 Measurement data	双回波距离及强度 Double echo distance and intensity
最大测量距离 Maximum measurement range	100 m
精度 Accuracy	±3 cm
垂直视场 Vertical field of view	30°
水平视场 Horizontal field of view	360°
垂直角度分辨率 Vertical angular resolution	2°
水平角度分辨率 Horizontal angular resolution	0.1°~0.4°
测量频率Measurement frequency	5~20 Hz

序号 No.	VLP-16高度 VLP-16 height/cm	测量直径 Measure the diameter/cm				提取直径 Extract the diameter/cm
序号 No.	VLP-16高度 VLP-16 height/cm	下 Lower	中 Middle	上 Top	平均 Average	提取直径 Extract the diameter/cm
1	85	74.60	72.20	65.50	70.77	66.72
2	85	77.50	67.60	62.80	69.30	64.64
3	85	59.60	53.40	51.70	54.90	50.49
4	85	65.40	55.40	54.70	58.50	53.61
5	85	57.00	49.80	48.30	51.70	46.92
6	85	71.30	57.70	54.30	61.10	56.34
7	114	54.50	45.30	41.20	47.00	42.51
8	85	49.40	38.90	35.50	41.27	36.58
9	85	64.50	57.80	54.30	58.87	54.47
10	85	79.40	70.30	67.00	72.23	67.49
11	85	72.10	56.70	52.50	60.43	55.50
12	85	64.30	55.90	55.00	58.40	53.62
13	85	54.20	46.60	44.80	48.53	44.36
14	85	59.70	50.10	51.00	53.60	49.07
15	85	69.00	63.20	61.40	64.53	59.98
16	85	78.00	69.50	63.20	70.23	65.98
17	70	79.00	67.80	62.80	69.87	65.37
18	65	88.20	78.10	61.50	75.93	71.52
19	65	78.80	77.70	69.70	75.40	70.42
20	65	73.60	58.80	55.00	62.47	57.59
21	65	54.00	45.00	48.30	49.10	44.72
22	65	76.20	67.90	62.00	68.70	63.99
23	65	39.70	29.50	29.80	33.00	28.62
24	65	60.20	51.60	47.20	53.00	48.37
25	93	66.20	57.40	50.20	57.93	53.15
26	65	57.00	46.90	44.20	49.37	45.28
27	65	55.70	49.50	44.40	49.87	45.32
28	92	81.40	87.00	79.10	82.50	78.45
29	92	71.00	56.20	50.90	59.37	54.70
30	92	47.70	37.40	36.20	40.43	35.87

型号Model	6ES7214-1AG40-0XB0
名称Designation	S7-1214C DC/DC/DC
存储空间Storage space	150 kB
I/O接口Input/output interface	14DI，2AI，10DO

e	$ \mathrm{d}e/\mathrm{d}t $
e	NB	NM	NS	O	PS	PM	PB
NB	PB	PB	PB	PB	PM	PS	O
NM	PB	PB	PB	PB	PM	O	O
NS	PM	PM	PM	PM	O	PS	NS
O	PM	PM	PS	O	NS	NS	NM
PS	PS	PS	O	NS	NM	NM	NM
PM	PS	O	NS	NM	NM	NM	NB
PB	O	O	NM	NM	NM	NB	NB

名称 Designation	地址 Address
启动按钮Start button	I0.0
停止按钮Stop button	I0.1
红外传感器Infrared sensor	I0.2
压力传感器Pressure sensor	I0.3
激光雷达LiDAR	I0.4
限位开关Limit switch	I0.5
伸缩液压缸Telescopic hydraulic cylinder	Q0.0
1#摆动液压缸1# swing hydraulic cylinder	Q0.1
2#摆动液压缸2# swing hydraulic cylinder	Q0.2
夹持液压缸Clamping hydraulic cylinder	Q0.3
液压马达Hydraulic motor	Q0.4