植物工厂高层采收车底盘设计与试验  

Design and Experiment of High-level Harvesting Vehicle Chassis for Plant Factories

作　　者：左志宇[1] 顾灵杰 毛罕平[1] 朱苏冀 李文豪 金文帅 Zuo Zhiyu;Gu Lingjie;Mao Hanping;Zhu Suji;Li Wenhao;Jin Wenshuai(Key Laboratory of Modern Agricultural Equipment and Technology,Ministry of Education,Jiangsu University,Zhenjiang 212013,China)

机构地区：[1]江苏大学现代农业装备与技术教育部重点实验室,江苏镇江212013

出　　处：《农机化研究》2025年第6期219-225,共7页Journal of Agricultural Mechanization Research

基　　金：国家大宗蔬菜产业技术体系岗位专家任务项目(CARS-23-D-03);江苏省农业科技自主创新项目(CX(20)1005)。

摘　　要：针对植物工厂多层立体栽培人工采收劳动强度大的问题,研发了一种集抓取、运输功能于一体的植物工厂高层采收车底盘,可实现稳定行走、路径跟踪和自动定位。根据植物工厂高层采收车满载质量和行驶效率需求,设计了基于差速轮系的驱动装置,确定了弹簧减震装置的关键参数,开发了底盘驱动控制系统。以行驶稳定性误差、路径追踪误差和定位误差为试验指标,进行了底盘驱动作业性能试验,结果表明:在加速、减速和匀速等不同工况下,植物工厂高层采收车的行驶稳定性倾角最大均方根误差为1.77°,路径跟踪误差中的横向偏差均方根误差为1.35 mm,航向角均方根误差为0.336°,行走定位最大相对误差为0.51%。Aiming at the problem of labor-intensive manual harvesting in multi-layer stereo culture of plant plants,a chassis of plant factory high-level harvesting vehicle with integrated grasping and transportation was developed,which can realize stable walking,path tracking and automatic positioning.According to the full load weight and driving efficiency requirements of the plant factory high-level harvesting vehicle,the drive device based on differential wheel system was designed,the key parameters of the spring damping device were determined,and the chassis drive control system was developed.The chassis drive operation performance test was conducted with driving stability error,path tracking error and positioning error as test indexes.The experimental results showed that under different working conditions such as acceleration,deceleration and uniform speed,the maximum root-mean-square error of driving stability inclination of the plant factory high-level harvesting vehicle was 1.77°,the root-mean-square error of lateral deviation in path tracking error was 1.35 mm,and the root-mean-square error of heading angle was 0.336°,the maximum relative error of driving positioning was 0.51%.

关 键 词：植物工厂 采收车 驱动底盘 结构设计 

分 类 号：S237[农业科学—农业机械化工程] S219.3[农业科学—农业工程]