A Obstacle Avoidance And Positioning System Designed For Mountain Orangery Monorail Transport Vehicle

At present, China has grown into the world’s first producer of citrus. Using the monorail transporter as citrus picking truck transport can improve the efficiency of picking citrus and reduce the labor costs. However, due to more citrus growing in mountainous terrain and complex terrain region, and poor site conditions, transport vehicle exists low safety in operation work and poor efficiency. For problems of monorail transport vehicle, the subject developed a transport vehicle intelligent devices to ensure the safety and high efficiency of transport vehicles, thereby, this subject can further promote China’s citrus picking transport level of mechanization, automation and standardization. To promote safety and work efficiency of electrically driven monorail transport vehicle in mountain citrus actual transportation, this paper designed a remote controlled obstacle avoidance and positioning system of monorail transport vehicle in hillside orchard. Obstacle avoidance system based on ultrasonic distance measurement technology, through the calculation of sending and receiving ultrasonic waves time, Judges whether obstacles exiting in front of transport vehicle and spacing of obstruction to control transport vehicle avoiding obstacle to park; positioning system based on RFID radio frequency technology, by reader-writer detecting trackside tag, reads the tag information to determin the orientation of transport vehicle running. With obstacle avoidance and positioning system installed in transport vehicle, field experiment was carried out. The main results include: 1.An ultrasonic ranging obstacle avoidance system was developed. Obstacle avoidance function of transport vehicle can be realized; Cross section smaller of obstacle avoidance systems on the rail, monorail runs faster, the lower the success rate of obstacle avoidance; obstacle avoidance system was mounted in front of the vertical line in front of the vertical height of 10cm from the track to achieve the best security obstacle avoidance.Avoidance distance is 37-65cm. 2.An RFID radio frequency positioning system was developed. When transport vehicle driving speed is between 0.2～0.6 m·s-1, reading the tags time correctly coincides with the theoretical value rangeing from 97% to 60%, The speed is faster, the lower the degree of matching; In the transport vehicle’s operating speed range, the system can achieve a matching tag location information, fault tolerance and error correction functions;In the normal operating conditions of transport vehicle, the system can ensure the success of passing a label that reads tag information more than once. The system can successfully read each label information and realize the corresponding location feedback.3.Monorail transport vehicle obstacle avoidance and positioning complete machine system can achieve obstacle avoidance parking and realize parking position feedback to the user’s remote controlled displayer online to display transport vehicle the function of orientation. Also it can achieve to reach the preset position based on picking transportation needs. This topic research achieved obstacle avoidance and positioning function of monorail transport vehicle, and improved the monorail transport vehicle intelligence. It provided effective reference for studying monorail transport vehicle intelligent equipment technology in the future.