本文選題：溫室　切入點(diǎn)：自跟隨　出處：《山東農(nóng)業(yè)大學(xué)》2017年碩士論文

【摘要】：隨著農(nóng)業(yè)科技的發(fā)展,現(xiàn)代溫室已采用專業(yè)化、規(guī)�；图s化的生產(chǎn)方式,使其成為當(dāng)今世界最具吸引力和活力的產(chǎn)業(yè)之一。由于溫室內(nèi)的作業(yè)空間狹小,行間采摘過程中的果實(shí)的運(yùn)輸還是依靠傳統(tǒng)的“肩挎手提”,工作效率低、強(qiáng)度大。本文結(jié)合我國溫室產(chǎn)業(yè)生產(chǎn)的實(shí)際情況,針對(duì)溫室行間采摘工作強(qiáng)度大、效率低的問題,設(shè)計(jì)研制了一種面向溫室行間采摘的智能運(yùn)輸車。實(shí)現(xiàn)了“人走車走、人停車停、人退車退”的自跟隨功能,可跟隨采摘工作人員在溫室行間行走,方便工作人員完成果實(shí)的收集運(yùn)輸工作;同時(shí)車輛帶有稱重功能,果實(shí)采摘工作結(jié)束后可直接運(yùn)走,無需再次過磅稱重。本文的研究內(nèi)容如下:(1)機(jī)械結(jié)構(gòu)設(shè)計(jì)。車輛的機(jī)械設(shè)計(jì)主要對(duì)底盤和升降平臺(tái)進(jìn)行設(shè)計(jì),并且對(duì)車輛各部分使用Soildworks軟件進(jìn)行三維建模和尺寸設(shè)計(jì),并繪制出虛擬樣機(jī);同時(shí)完成了行走電機(jī)、轉(zhuǎn)向電機(jī)、電動(dòng)推桿和蓄電池的參數(shù)計(jì)算,并依據(jù)確定的參數(shù)進(jìn)行了選型。(2)系統(tǒng)硬件電路設(shè)計(jì)。本文以Cortex-M3位核心的STM32F103C8T6作為主控芯片,控制各功能模塊協(xié)調(diào)工作。系統(tǒng)硬件電路主要包括電源模塊、信號(hào)采集裝置、驅(qū)動(dòng)模塊、升降平臺(tái)控制模塊和人機(jī)交互裝置。(3)在硬件電路的基礎(chǔ)上設(shè)計(jì)了車輛行走控制程序、車輛轉(zhuǎn)向控制程序、稱重程序和顯示模塊程序。在軟件設(shè)計(jì)中為了使車輛的轉(zhuǎn)向更加精確,在轉(zhuǎn)向電機(jī)控制程序中加入了增量式PID算法。(4)系統(tǒng)測試。為了驗(yàn)證設(shè)計(jì)的合理性,對(duì)車輛進(jìn)行一些基礎(chǔ)性實(shí)驗(yàn),并對(duì)實(shí)驗(yàn)結(jié)果進(jìn)行分析,為面向溫室行間采摘的智能運(yùn)輸車的進(jìn)一步發(fā)展奠定基礎(chǔ)。本設(shè)計(jì)將行間采摘時(shí)的實(shí)時(shí)收集、同步運(yùn)輸與采摘后的運(yùn)輸以及果實(shí)的稱重相結(jié)合,滿足行間采摘以及大型溫室過道的長距離運(yùn)輸?shù)囊?有利于降低溫室采摘工作的工作強(qiáng)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.
【學(xué)位授予單位】：山東農(nóng)業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：S229.1

【參考文獻(xiàn)】

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本文編號(hào)：1686924