Design of a wheeled multi-function autonomous operation platform in orchard
In order to realize the multifunctional application of orchard operation machinery,a wheeled orchard multifunctional autonomous navigation operation platform was designe with functions such as mowing,spraying and carrying was designed.The overall design of the multifunctional platform is carried out according to the operation requirements.The platform includes a power system,a walking system,a navigation system,a control system and operating devices.The selection of drive motor of the whole machine was determined according to the handling demand.The motion and dynamics of cutter were analyzed,and the model of cutter motor and electric push rod was determined according to cutting range and stability demand.According to the knowledge of fluid mechanics,the model of the pump that meets the spray width was determined by calculation,and other key components were selected by calculation.The prototype was tested on the minimum turning radius,grass cutting performance and spraying performance.The results showed that the minimum turning radius of the platform we designed is 120.75 cm,which meted the requirements of good passability between rows of orchard.The speed and height of cutter can be adjusted,the stubble height can be controlled within 5 cm,and the coverage rate of mowing operation is more than 91.25％.The spray pump can adjust the pressure according to the speed and tree shape,and the variation coefficient of spray uniformity is within 8.01％,which ensures the uniformity of spray and reduces the waste of pesticides.
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