Design And Realization Of Intelligent Transportation Vehicle For Inter Row Picking In Greenhouse

With the development of agricultural science and technology,modern greenhouse has adopted mode of production with specialization,scale and intensification,which makes it become one of the most attractive and dynamic industries in the world today.Because of the small amount space in the greenhouse,the transportation of fruit in the line picking also needs to rely on the traditional “arm and hands picking”.The efficiency is low and the intensity is large.In this paper,combined with the actual situation of green house in China,a intelligent transport vehicle was designed for line picking in greenhouse in view of the large working efficiency and low efficiency of picking in greenhouse.The auto-track function of “people go and so does the vehicle,people stop and so does the vehicle,people step back and so does the vehicle”.It could go around the greenhouse following the pickers,which is convenient for the workers to collect and transport the fruit;at the same time,the vehicle carries the weighing function.The fruits can carried away directly without weighing the weight again.The research content of this paper is following:(1)Mechanical stricture design.Mechanical design of the vehicle was mainly about chassis and elevator.Solidworks software was used to make a 3D modeling and dimension design of each part of this vehicle,and then virtual prototype was drawn;meanwhile,the parameter calculation of walking motor,steering motor,linear actuator and storage battery was completed.The models were selected according to the certain parameter.(2)Design of system hardware circuit.STM32F103C8T6 of Cortex-M3 core was used to be the main control chip to control the coordinated work of all functional modules.System hardware circuit mainly included the power module,signal pickup assembly,driving module,platform control module and man-device interaction device.(3)The control program of vehicle walking and vehicle steering,weighing program and display module program were design on the basis of hardware circuit.Incremental PID algorithm was added into the control program of vehicle steering in order to make the steering more accurate in the software design.(4)System testing.Some basic experiments were made about vehicles in order to verify the rationality of this design,and then the experimental result was analyzed,which laid foundation for the development of intelligent transport vehicles for picking in the greenhouse.Real-time gathering,synchronous transportation and the transportation after picking up in the line picking were combined with the weighing of fruits in this paper to satisfy the demands of long-distance transportation for line picking and large greenhouse aisles,which is helpful to reduce the intensity of the work and improve its efficiency.