基于液压升降平台的蘑菇采摘系统换层技术研究  

Research on Layer Change Technology of Mushroom Picking System Based on Hydraulic Lifting Platform

作　　者：应徐超 叶明[1] 刘凯[1] 

机构地区：[1]南京航空航天大学机电学院

出　　处：《工程机械》2019年第12期28-33,I0017,共7页Construction Machinery and Equipment

基　　金：国家自然科学基金（51405229）

摘　　要：针对目前蘑菇自动采摘系统中蘑菇采摘车在多层苗床中作业时无法有效、稳定换层的问题,设计一种基于移动式剪叉液压升降台自动调平、自动对轨的换层模块。根据采摘系统的作业流程及升降平台的结构特点,将换层问题主要分解为调平和对轨两步,提出一种逐点调平、分步对轨的控制方法。利用倾角传感器测量平台两轴倾角,实时调整升降平台倾斜度;利用高度传感器测量升降平台车轨实时高度,完成升降平台车轨与苗床车轨的对接。对换层模块进行试验验证,结果表明换层模块能够在预定时间120 s内完成换层任务,完善了蘑菇自动采摘系统。In view of problems with level change in the mushrooms picking truck without efficient and stable levels change during the operation that there has to design a level change module which can assist to alleviate and track adapt automatically in a mechanism as based on a portable scissor type auto-hydraulic lift platform.According to features in picking systems work float and structure it has to split the solution into 2 steps,i.e.,alleviation and track-joint in a gradual and step-by-step control method by utilizing dip angle sensors to measure angles of the 2 axes while adjusting deflection of the platform in real time and using height sensors to measure real time height of the lift platforms track,thus fulfilling the tracks joint.Test results from the level change module show that it can complete the task in 120 seconds,and so perfects the automatic mushroom picking system.

关 键 词：蘑菇自动采摘系统 换层技术 剪叉式液压升降台 调平控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] S646.11[自动化与计算机技术—控制科学与工程]