CAJ | 학술논문

针对栽培区中盆栽水稻需频繁搬运的问题，该文以自动导引小车AGV（automated guided vehicle）系统为核心设计了一套盆栽水稻高通量输送系统。盆栽水稻高通量输送系统包括AGV、无动力种植槽、输送线、上下线机、通讯与控制系统等。水稻主要通过 AGV 和输送线实现移动。无动力种植槽成行放置于栽培区中，且每个无动力种植槽中栽培24株水稻。AGV按照指令从栽培区中提取种植槽，并将其移动至上下线机，24株盆栽水稻通过上下线机整体进入输送线，并依次移动至指定地点进行作业，作业完成后24株盆栽水稻从上下线机又整体离开输送线，由AGV将盆栽水稻放回原址。AGV移动时通过激光条码定位，定位准确，误差为±5 mm。AGV移动速度快，最高速度达60 m/min。AGV移动平稳，取放、移动种植槽时，盆栽水稻不易倾翻。随机选取的240株盆栽水稻进行输送试验，试验表明，盆栽水稻高通量输送系统联机自动运行可以满足盆栽水稻表型检测速度要求， AGV提取和存放盆栽水稻时位置准确，无歪斜无碰撞，盆栽水稻在移动过程，状态平稳，无倾翻，无折断现象，而且实现了温室中设备的分区管理。该研究成果为其他温室盆栽植物输送提供了参考。
침대재배구중분재수도수빈번반운적문제，해문이자동도인소차AGV（automated guided vehicle）계통위핵심설계료일투분재수도고통량수송계통。분재수도고통량수송계통포괄AGV、무동력충식조、수송선、상하선궤、통신여공제계통등。수도주요통과 AGV 화수송선실현이동。무동력충식조성행방치우재배구중，차매개무동력충식조중재배24주수도。AGV안조지령종재배구중제취충식조，병장기이동지상하선궤，24주분재수도통과상하선궤정체진입수송선，병의차이동지지정지점진행작업，작업완성후24주분재수도종상하선궤우정체리개수송선，유AGV장분재수도방회원지。AGV이동시통과격광조마정위，정위준학，오차위±5 mm。AGV이동속도쾌，최고속도체60 m/min。AGV이동평은，취방、이동충식조시，분재수도불역경번。수궤선취적240주분재수도진행수송시험，시험표명，분재수도고통량수송계통련궤자동운행가이만족분재수도표형검측속도요구， AGV제취화존방분재수도시위치준학，무왜사무팽당，분재수도재이동과정，상태평은，무경번，무절단현상，이차실현료온실중설비적분구관리。해연구성과위기타온실분재식물수송제공료삼고。
On the basis of the automated guided vehicle (AGV) system, a set of high throughput conveyor system of potted rice was designed in this study to solve the problem that the potted rice should be moved frequently in the cultivation area. The high throughput conveyor system of potted rice can not only realize the automatic conveying in the whole period of cultivation of potted rice, but also provide a feasible implementation scheme to the conveying of the other greenhouse potted plants. The system mainly consists of the AGV system, the unpowered plantation trough, the transport line preparing for testing, the transport line for operation, the entrance-exit machine, the communication system, the control system, and so on. The potted rice can be moved by aid of the AGV and the transport line. In the cultivation area, all the unpowered plantation troughs are placed in rows and there are twenty-four pots of rice placed in each unpowered plantation trough. According to the instruction, the AGV can firstly pick up the unpowered plantation trough, and put it on the entrance-exit machine. And all the twenty-four pots of rice then enter the transport line at the same time. After that, all the pots of rice are moved to the designed test or operation positions in sequence. When all the tests or operations on the twenty-four pots of rice are completed, all the twenty-four pots of rice are moved to leave the transport line at the same time through the unpowered plantation trough, and then placed to their original position by using the AGV. The AGV is located accurately by the laser bar code with the positional accuracy of (±5) mm, and the maximum velocity of AGV is set at 60 m/min. The AGV moves smoothly and steadily when the AGV picking, placing or moving the unpowered plantation trough, so the trough can not fall easily. In this paper, 240 pots of rice were chosen randomly for the experiment on the transport of the potted rice. The results showed that the high throughput conveyor system of potted rice could meet the velocity requirement of the test for all the pots of rice, and the AGV could pick and place the troughs accurately. In addition, all the troughs were not dumped and had no collision with other objects. Furthermore, all the pots of rice were stable all the time when moving, and all the rice was intact. The equipment in the greenhouse can also be in regionalized management.