Research On Key Technologies Of Design And Simulation For Seafood Mushroom Picking System

In the current seafood mushroom growing environment,multi-layer mushroom bed frames are used for manual harvesting.However,this traditional harvesting method suffers from low efficiency,high labor intensity and high labor cost,which restricts the scale development of seafood mushroom industry.Therefore,there is an urgent need to develop an intelligent harvesting system to meet the needs of factory seafood mushroom cultivation.In this study,a seafood mushroom picking system is designed and simulated and experimentally studied in the context of an innovation project of Wuhan Academy of Agricultural Sciences for bagged seafood mushrooms under industrial production.The main contents of the thesis research are as follows:(1)Overall scheme design of seafood mushroom harvesting system.The standard production process of sea mushroom in bags is introduced,and the research background,design requirements and design principles are set for the project requirements.Firstly,the overall harvesting scheme is determined,and the robotic harvesting system is adopted as the basis for the design scheme;then several seafood mushroom picking schemes are proposed,and the final seafood mushroom picking scheme is determined through comparison;and the root cutting scheme is designed with reference to the manual root cutting.(2)Mechanical properties test of seafood mushroom foundation.This test mainly uses digital push-pull meter to investigate the best way to pick the mushroom in the bagged mushroom and to obtain the pulling force parameters of the mushroom in different ways with different clamping positions.Then the mechanical properties of single mushroom rods were tested.The mechanical properties of the single mushroom rod are important parameters for the subsequent design of the mechanism and simulation studies;therefore,a mass spectrometer apparatus was used for the single mushroom rod and test methods were developed to perform extrusion,shear and tensile tests.The mechanical properties of the single seafood mushroom in different position ranges were obtained by conducting tests on different positions of the seafood mushroom.The obtained results provide a relevant basis for the picking position,the calculation selection of root cutting mechanism and the subsequent simulation study for intelligent picking of the bagged sea mushroom.(3)Mechanical mechanism design and control system design of sea mushroom picking system.In this paper,the Eft picking robot is selected as the design basis to determine the picking stations.The picking mechanism is a very important part for seafood mushroom picking.According to the scheme designed in the previous paper,the translating electric jig is selected as the power device,and the soft material is attached inside the front end of the jig to clamp the seafood mushroom to prevent damage to the seafood mushroom.The seafood mushroom has the highest value of mature stems,which also need to be cut and sorted by roots.According to the way and skill of manual root cutting,this paper designs the seafood mushroom root cutting mechanism,which can remove the seafood mushroom root completely.And the key parts in the whole harvesting system are calibrated statically using Workbench.Based on the robot C10 control system,an intelligent harvesting control system of seafood mushroom is developed,which can realize multiple devices to cooperate with each other to realize the designed harvesting process.(4)Kinematic and kinetic analysis of the seafood mushroom picking robot.The kinematic analysis uses the D-H method to establish the kinematic equations of the robot,calculate the positional transformation matrix of the robot and derive the inverse kinematic equations.The results of these analyses verified the accuracy of the forward and inverse solutions of the robot and provided a basis for the design and control of the robot.Kinematic simulation analysis was performed using PDPS software to study the feasibility,interference,and rationality of the robot picking path and to optimize some of the paths.The dynamics analysis uses Lagrange’s equation to establish the dynamics model of the seafood mushroom picking robot,and derives the theoretical driving moment expressions for each joint.Through ADAMS software,we can analyze the driving moments of each joint during the critical motion of the robot arm,so as to effectively optimize the picking path,improve the performance of the robot arm,and effectively reduce the uncertainty caused by its motion changes.(5)Develop the seafood mushroom picking system and conduct picking tests.To verify the feasibility of the design results of this study and the project requirements,the seafood mushroom picking system was built for picking tests,and the robot program was debugged according to the designed picking process and the field conditions.The minimum clamping distance and the position of the jig from the root are taken as the test factors,and the successful rate of seafood mushroom picking,the complete root cutting rate,the average breakage rate and the average root cutting rate are taken as the test indexes.According to the test results,the best picking method can be obtained.