草莓温室无人化循迹搬运车的设计与试验

温室无人化能较好地解决现有温室培育过程中采摘与搬运主要依靠人力完成,且倒料费时、费力及导轨铺设成本高等问题。以草莓大棚温室培育无人化搬运为试验对象,设计开发了一种应用于草莓无人化管理的自动循迹搬运车。该搬运车利用红外传感器对路面上设定的迹线进行自动检测,通过对路径进行计算与分析,自动校正运行轨迹,实现智能循迹搬运。通过机构创新,设计并制作了可自动倾倒且料斗门能同时开启的倒料机构。试验结果表明:所设计的无人化循迹搬运车在设定传感器离地面距离d=2cm、直线段运行速度υ≤1.2 m/s时,能快速稳定地跟踪黑线前进;在转弯处运行速度υ≤1 m/s时,跟踪准确运行平稳;当两条迹线垂直时,搬运车能在垂直转弯处跟踪准确且运行平稳,搬运车整体性能稳定且转速在一定范围内对循迹的影响较小;当搬运车倒料角度α≥75°时,能保证草莓被全部被倒出,即倒料最小倾斜角αmin为75°。温室无人化循迹搬运车的设计为解决水果的无人化管理提供了参考。

Design and Test on Intelligent Tracking Vehicle of Strawberry Picking in Greenhouse

Strawberry is a popular fruit, it can be easily to standardize in the greenhouses and easily to realize automatic picking. In view of the existing problems of the low degree of automation, time-consuming and laborious in greenhouse of strawberry picking, the intelligent tracking vehicle applied in strawberry picking was designed. The infrared photoelectric sensor was used for the automatic detection of the trace setting on the road. Without human intervention, it can move automatically according to the predetermined track to achieve strawberry handling and dumping. The experimental results show that the unmanned vehicle which was designed can fast track line forward when the distance from the ground of sensor d is 2cm and the linear speed v is 1.2m/s. It can accurate tracking when the speed v is 1m/s in turn place, also it can track accuracy and smoothly in two vertical line at the vertical corner. The performance of the whole vehicle handling stability and speed has little effect on the tracking in a certain range. It is ensure that all the strawberries can be poured out when the unloading angle of vehicle is more than 75°. The design of unmanned vehicle tracking greenhouse provides design reference for solving the unmanned management of fruit.