Design And Experiment Of Mobile Chestnut Collecting Vehicle

The research on mechanized production of Chinese chestnut started late,but with the development and popularization in recent years,its scale and mechanization degree are increasing.Chestnut mechanized industry,harvesting is a link that consumes the most manpower and material resources.Chinese chestnut harvest is mainly picked up by manual hand-held simple device,which is low efficiency and poor security.Foreign chestnut harvest mainly by hand-held device and special material rolling picking device,which handheld device clamping efficiency is low,high risk coefficient,labor intensity,cannot meet the needs of chestnut collection in a short time;Special material device rolling pick up although the labor intensity is small,but only suitable for flat terrain planting chestnut.Compared with foreign chestnut planting,Chinese chestnut planting environment is mostly hilly and mountainous,large machinery cannot move freely in the chestnut plantation,and small intelligent devices cannot meet the high demand for chestnut collection,resulting in the slow development of Chinese chestnut harvesting equipment.To solve the above problems,this paper designed and implemented a follow-up chestnut collection vehicle device based on Arduino platform and ultrasonic sensor.The device can move freely with chestnut harvesting device installed with ultrasonic transmitting module;Chestnut collection can be realized when the harvesting device is working.At the same time,it can adapt to certain terrain in chestnut plantation,with good follow-up stability and high security.The collection rate of different chestnut harvesting devices was 76.92%～100.00%,which ensured the chestnut collection rate and reduced the labor intensity of chestnut collection personnel,providing certain reference for promoting the mechanization and intelligence of chestnut harvesting equipment.The main research contents of this paper include:(1)Mobile chassis design and simulation.The design scheme of mobile chassis was determined according to the terrain environment of Chestnut plantation.Carry on the structure design and the driving power calculation,obtain the motor parameters that can drive the movement of the mobile chassis and select the motor of the mobile chassis;The stability of the plate at the bottom of the moving chassis bearing the chestnut collecting device was verified by finite element simulation.Finally,the mobile chassis prototype was built.(2)Design and simulation of chestnut collecting device.Combined with the movement characteristics of chestnut by the harvesting device and the actual collection needs,the design requirements of chestnut collection device were proposed,and the design scheme of chestnut collection device was determined and the structure design was completed.On this basis,the finite element simulation of the structural stability of the collecting device and the reliability of the collecting material is completed.Finally,the chestnut collecting device was assembled with the mobile chassis to complete the construction of the chestnut collecting vehicle prototype.(3)Design and implementation of servo system.Based on ultrasonic follow-up system,mobile chassis and chestnut collection device,a follow-up chestnut collection vehicle prototype was built.Complete the control system design of the follow-up chestnut collection car;Each module and prototype following principle in the system are introduced and analyzed in detail.And complete the following verification test.The test results show that the ultrasonic follow-up system built in this paper can meet the working requirements of the follow-up chestnut collection truck following the chestnut flap device installed with ultrasonic transmitter to collect chestnut.(4)Testing and optimization.For the servo system,the single factor and multi-factor tests of the robustness of the servo system were carried out in an indoor environment.A follow-up chestnut collection device was tested in chestnut plantation.The test results showed that the design of the follow-up chestnut collection truck could meet the requirements of chestnut collection.The lateral displacement and yaw Angle error of chestnut collector are within the allowable range.When the collection vehicle is following the work,the best following distance is 500.00 mm,the best receiving sensor spacing is 190.50 mm,and the best collection vehicle speed is 600.00 mm /s.Chestnut collection device for the collection of hand-held multi-functional nut harvester,chestnut harvesting flapping device and vibrating automatic chestnut harvester flapping and vibrating drop chestnut all met the actual collection demand,the average collection rate was 90.28%、81.62% and 89.72%,respectively.