农机化研究2025，Vol.47Issue(6)：219-225,7.DOI:10.13427/j.issn.1003-188X.2025.06.034
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
摘要
Abstract
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 re-quirements of the plant factory high-level harvesting vehicle,the drive device based on differential wheel system was de-signed,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 accelera-tion,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 positio-ning was 0.51%.关键词
植物工厂/采收车/驱动底盘/结构设计Key words
plant factory/harvesting vehicle/drive chassis/structural design分类
农业科技引用本文复制引用
左志宇,顾灵杰,毛罕平,朱苏冀,李文豪,金文帅..植物工厂高层采收车底盘设计与试验[J].农机化研究,2025,47(6):219-225,7.基金项目
国家大宗蔬菜产业技术体系岗位专家任务项目(CARS-23-D-03) （CARS-23-D-03）
江苏省农业科技自主创新项目(CX(20)1005) （CX(20）
