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蔬菜移栽缽苗檢測與缺苗補(bǔ)償系統(tǒng)設(shè)計(jì)與試驗(yàn)
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國家重點(diǎn)研發(fā)計(jì)劃項(xiàng)目(2017YFD0701300)


Design and Experiment of Detection and Supply System of Vegetable Plug Seedlings for Transplanting
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    為解決蔬菜穴盤苗全自動移栽機(jī)因穴盤缺苗、取投苗失敗等因素導(dǎo)致的漏栽現(xiàn)象,設(shè)計(jì)了基于多傳感器的缽苗檢測及缺苗補(bǔ)償系統(tǒng)(補(bǔ)苗系統(tǒng))。補(bǔ)苗系統(tǒng)作為獨(dú)立功能模塊,包括補(bǔ)苗裝置、缽苗檢測單元和控制系統(tǒng),使用反射型光纖傳感器和激光傳感器聯(lián)合檢測的方法,對分行苗杯定位和苗杯內(nèi)缽苗進(jìn)行識別。利用光纖傳感器分別對辣椒、番茄、甘藍(lán)缽苗進(jìn)行多高度檢測試驗(yàn),以獲取光纖傳感器最佳檢測高度和最佳缺苗判定閾值。設(shè)計(jì)了自動補(bǔ)苗裝置,并對補(bǔ)苗過程進(jìn)行運(yùn)動學(xué)分析。使用觸摸屏、PLC、EM253位置模塊等控制元件設(shè)計(jì)了控制系統(tǒng),實(shí)現(xiàn)整機(jī)及補(bǔ)苗系統(tǒng)的控制。對補(bǔ)苗系統(tǒng)進(jìn)行不同移栽頻率下的性能對比試驗(yàn),試驗(yàn)結(jié)果表明:在單行栽植頻率分別為60、70、80 株/min時,補(bǔ)苗系統(tǒng)識別成功率分別為98.15%、98.15%、97.69%,移栽機(jī)平均漏栽率分別為1.85%、2.31%、2.31%,比未啟用補(bǔ)苗系統(tǒng)時漏栽率分別降低了14.59、14.36、15.52個百分點(diǎn),為進(jìn)一步提高蔬菜移栽作業(yè)品質(zhì)提供參考。

    Abstract:

    In the field transplanting process of vegetable plug seedlings, the lack of seedlings in the plug trays and the failure of picking and throwing seedlings lead to the leakage planting, resulting in waste of resources such as land, water and pesticides. In order to solve the problem of leakage planting, a plug seedling detection and seedling leakage supply system (seedling supply system) for a fully automatic transplanter of vegetable plug seedlings was designed. As an independent functional module, the seedling supply system specifically included a plug seedling detection unit and a seedling supply device. A reflective optical fiber sensor (OFS) and a laser sensor were used to detect the separation seedling cup and identify the plug seedling in the separation seedling cup. Pepper, tomato, cabbage plug seedlings were tested at a variety of detection height by OFS to obtain the best detection height and threshold setting parameters for OFS detection. With the height of the OFS probe was increased, the difference values was increased first and then decreased. When the feedback difference values were the largest, the corresponding plug seedling detection height was the best, and the optimal threshold parameter was set according to the feedback value and the feedback difference value. The automatic supply device was designed, and the movement analysis of the seedling supply process was carried out. The HMI-PLC control system was designed to realize the control of the transplanter and the seedling supply system. A field comparison experiment with different transplanting frequencies was carried out on the opening and closing of the seedling supply system. The experiment results showed that when the single row transplanting frequency was 60 plants/min, 70 plants/min, and 80 plants/min, the recognition success rate was 98.15 %, 98.15% and 97.69%, the leakage planting rate was 1.85%, 2.31% and 2.31%, respectively. Compared with the transplanting when the seedling supply system was not enabled, the leakage planting rate was reduced by 14.59, 14.36 and 15.52 percentage points, respectively.

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文永雙,張宇,田金元,袁挺,張俊雄,譚豫之.蔬菜移栽缽苗檢測與缺苗補(bǔ)償系統(tǒng)設(shè)計(jì)與試驗(yàn)[J].農(nóng)業(yè)機(jī)械學(xué)報,2020,51(s1):123-129. WEN Yongshuang, ZHANG Yu, TIAN Jinyuan, YUAN Ting, ZHANG Junxiong, TAN Yuzhi. Design and Experiment of Detection and Supply System of Vegetable Plug Seedlings for Transplanting[J]. Transactions of the Chinese Society for Agricultural Machinery,2020,51(s1):123-129.

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  • 收稿日期:2020-08-25
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  • 在線發(fā)布日期: 2020-11-10
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