Simulation of vibration caused by an automatic transporter on harvested products

摘要

In developing autonomous mobile robots capable of transporting harvests on farms, it is necessary to take measures against vibrations in order to maintain quality while transporting harvests. Since the ground surface roughness in a farm varies with weather conditions and agricultural works and measuring the vibration on the harvested products is complex, it is difficult to efficiently design an algorithm for an autonomous transport robot that reduces the effect of vibration on the harvested products. We have developed an autonomous transport robot simulator that travels on an orchard using ROS2 and Gazebo. In this report, the effect of traveling speeds on the vibration of the harvest was discussed based on simulation results. In the simulation, the vibration acceleration of the harvested production was calculated during transportation by an autonomous robot on a road with a random uneven surface and a maximum deviation of 0.05 m. The results show that the vibration increases relative to the position of the apples, even at low speeds on a bumpy ground surface, suggesting the need to dynamically change the speed depending on the road surface conditions so that the apples can be transported minimal damage to their surface.