Design and experiment of the remote-control system for fruit tree pruners

HUANG Shuo; YANG Fang; SHEN Yijun; ZENG Lang; HE Shihao; PAN Haibing; LI Shanjun

doi:10.13300/j.cnki.hnlkxb.2025.05.029

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Design and experiment of the remote-control system for fruit tree pruners

Food science and agricultural engineering | 更新时间：2026-11-05

- Design and experiment of the remote-control system for fruit tree pruners
- Journal of Huazhong Agricultural University Vol. 44, Issue 5, Pages: 288-298(2025)
- 作者机构：
  
  1.华中农业大学工学院，武汉430070
  2.农业农村部长江中下游农业装备重点实验室，武汉430070
  3.农业农村部柑橘全程机械化科研基地，武汉430070
- 作者简介：
- 基金信息：
- DOI：10.13300/j.cnki.hnlkxb.2025.05.029
  CLC： S224.9
- Received：24 December 2024，
  
  Published：15 September 2025
- 稿件说明：
移动端阅览
黄硕，杨方，沈逸君，等.果树修剪机远程控制系统设计与试验［J］.华中农业大学学报，2025，44（5）：288‐298.

HUANG Shuo,YANG Fang,SHEN Yijun,et al.Design and experiment of the remote-control system for fruit tree pruners[J].Journal of Huazhong Agricultural University,2025,44(05):288-298.
黄硕，杨方，沈逸君，等.果树修剪机远程控制系统设计与试验［J］.华中农业大学学报，2025，44（5）：288‐298. DOI： 10.13300/j.cnki.hnlkxb.2025.05.029.

HUANG Shuo,YANG Fang,SHEN Yijun,et al.Design and experiment of the remote-control system for fruit tree pruners[J].Journal of Huazhong Agricultural University,2025,44(05):288-298. DOI： 10.13300/j.cnki.hnlkxb.2025.05.029.

摘要

针对果树修剪过程中自动化程度较低的问题，设计一种基于物联网架构和电液驱动的果树修剪机远程控制系统，该修剪机的控制系统主要由液压驱动模块、主控模块、通信模块、感知模块、人机交互模块组成，完成对修剪机关节位姿的监测和远程控制，配合液压马达的启停完成柑橘果树机械修剪的任务。采用改进的Denavit-Hartenberg（D-H）参数法建立果树修剪机的运动学模型，配合Matlab Robotic Toolbox验证修剪机的运动学模型，配合蒙特卡洛算法求解各修剪机构的理论工作空间；根据关节运动特点选取相应传感器、控制器和换向阀，设计物联网系统的应用层控制方案；基于UART-Wi-Fi模块ESP8266建立物联网系统的网络层，实现手机APP-云服务器-修剪机的远程监控通信；为方便使用、快速上手，设计了手机APP人机交互界面，通过人机交互界面实现修剪机关节位姿状态读取和发送控制指令，自动实现修剪机位姿调整。样机控制试验显示，各移动关节的定位误差均为±0.5 mm，各转动关节的定位误差均小于2°，具有较高的准确性；各关节运动至目标行程的控制调节时间在1.14~9.21 s，具有合适的控制调节时间。试验结果表明，该基于物联网架构的果树修剪机具有较高的自动化程度、较简易的操作模式，在实际果树机械修剪中具有一定的应用价值。

Abstract

A remote-control system for fruit tree pruners was designed based on the Internet of Things （IoTs） and electro-hydraulic driving architecture to solve the problems of the low level of automation in the process of pruning fruit tree.The control system for fruit tree pruners was mainly consisted of a hydraulic drive module， a main control module， a communication module， a perception module， and a human-phone interaction module to complete the monitoring and remote control of the joint position of the pruner and cooperate with the start-stop of the hydraulic motor to complete the tasks of mechanical pruning of fruit trees.The improved Denavit-Hartenberg （D-H） parameter method was used to establish the kinematic model of fruit tree pruner.The kinematic model of pruner was verified with Matlab Robotics Toolbox， and the theoretical workspace of each pruning mechanism was solved with Monte Carlo algorithm.The specific sensors， controllers and hydraulic valves were selected according to the characteristics of joint motion to design an application layer control scheme for the IoTs system.The network layer of the IoTs system was established based on the UART-Wi-Fi module ESP8266 to realize remote monitoring and communication between the mobile phone APP-cloud server-pruner.A mobile phone APP with human-phone interaction interface for the convenience of easy use and quick start was designed to enable the reading of the joint positional status of the pruner and the sending of control instructions through the human-phone interaction interface to automatically adjust the position of pruner.A experiment at an open area for viewing the rapidity and accuracy of the machine prototype was conducted.The results of testing the prototype showed that the positioning errors of the mobile joints were within ±0.5 mm， the positioning error of each rotating joint was less than 2°， and the control and adjustment time of each joint motion to the limit stroke was between 1.14-9.21 s， with good adjustment time.It is indicated that the fruit tree pruner based on the IoTs architecture has a high degree of automation and a simple mode of operation， and has certain application value in practically pruning fruit trees.

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references

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