面向温室行间采摘的智能运输车的设计与实现

发布时间：2018-03-30 17:36

本文选题：温室　切入点：自跟随　出处：《山东农业大学》2017年硕士论文

【摘要】：随着农业科技的发展,现代温室已采用专业化、规模化和集约化的生产方式,使其成为当今世界最具吸引力和活力的产业之一。由于温室内的作业空间狭小,行间采摘过程中的果实的运输还是依靠传统的“肩挎手提”,工作效率低、强度大。本文结合我国温室产业生产的实际情况,针对温室行间采摘工作强度大、效率低的问题,设计研制了一种面向温室行间采摘的智能运输车。实现了“人走车走、人停车停、人退车退”的自跟随功能,可跟随采摘工作人员在温室行间行走,方便工作人员完成果实的收集运输工作;同时车辆带有称重功能,果实采摘工作结束后可直接运走,无需再次过磅称重。本文的研究内容如下:(1)机械结构设计。车辆的机械设计主要对底盘和升降平台进行设计,并且对车辆各部分使用Soildworks软件进行三维建模和尺寸设计,并绘制出虚拟样机;同时完成了行走电机、转向电机、电动推杆和蓄电池的参数计算,并依据确定的参数进行了选型。(2)系统硬件电路设计。本文以Cortex-M3位核心的STM32F103C8T6作为主控芯片,控制各功能模块协调工作。系统硬件电路主要包括电源模块、信号采集装置、驱动模块、升降平台控制模块和人机交互装置。(3)在硬件电路的基础上设计了车辆行走控制程序、车辆转向控制程序、称重程序和显示模块程序。在软件设计中为了使车辆的转向更加精确,在转向电机控制程序中加入了增量式PID算法。(4)系统测试。为了验证设计的合理性,对车辆进行一些基础性实验,并对实验结果进行分析,为面向温室行间采摘的智能运输车的进一步发展奠定基础。本设计将行间采摘时的实时收集、同步运输与采摘后的运输以及果实的称重相结合,满足行间采摘以及大型温室过道的长距离运输的要求,有利于降低温室采摘工作的工作强度,提高其工作效率。
[Abstract]:With the development of agricultural science and technology, modern greenhouse has adopted specialized, large-scale and intensive production methods, making it one of the most attractive and dynamic industries in the world. The transportation of the fruit in the process of picking between rows still depends on the traditional "shoulder and hand", which has low working efficiency and high intensity. In this paper, according to the actual situation of greenhouse industry in our country, we aim at the problem of high intensity and low efficiency of picking between rows in greenhouse. This paper designs and develops a kind of intelligent transport vehicle for picking between rows of greenhouse. It realizes the self-following function of "walking by man, parking by man, returning car by man", and can follow the picking staff to walk between the rows of greenhouse. It is convenient for the staff to collect and transport the fruit. At the same time, the vehicle has the function of weighing, and the fruit picking can be carried away directly after the work is finished. There is no need to weigh again. The research contents of this paper are as follows: 1) Mechanical structure design. The mechanical design of the vehicle mainly designs the chassis and the lifting platform, and uses Soildworks software to model and design the dimensions of each part of the vehicle. At the same time, the parameters of walking motor, steering motor, electric push rod and battery are calculated, and the hardware circuit of the system is designed according to the determined parameters. The STM32F103C8T6 of Cortex-M3 bit core is used as the main control chip in this paper. The hardware circuit of the system mainly includes power supply module, signal acquisition device, driving module, lifting platform control module and man-machine interaction device. Vehicle steering control program, weighing program and display module program. In order to make the steering of the vehicle more accurate, the incremental PID algorithm. 4) system test is added to the steering motor control program to verify the reasonableness of the design. Some basic experiments on vehicles are carried out, and the results are analyzed, which lays a foundation for the further development of intelligent transport vehicles for greenhouse interrow picking. The combination of synchronous transportation, picking transportation and fruit weighing can meet the requirements of interrow picking and long-distance transportation of large greenhouse corridors, which is helpful to reduce the working intensity and improve the working efficiency of the greenhouse picking work.
【学位授予单位】：山东农业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：S229.1

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