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穴盘缺苗气吸式基质剔除装置设计与试验 被引量:6

Design and Experiment of Air-suction Substrates Removal Device for Plug Lack of Seedlings Trays
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摘要 针对穴盘缺苗穴孔内钵体松散易碎导致基质剔净率低的问题,设计了一种气吸式基质剔除装置。该装置首先利用深度学习模型检测缺苗穴孔并定位,随后输送带输送穴盘苗到达基质剔除模块,控制系统根据缺苗穴孔位置信息,控制直线模组带动气吸端口到达缺苗穴孔正上方位置,最终利用负压吸附的方式完成缺苗穴孔基质剔除任务。利用DEM-CFD耦合仿真方法对比分析了9种气吸端口结构对基质剔除性能的影响,结果表明,当气吸端口圆管直径为30 mm、收缩管高度为50 mm时,基质剔除率高且输送更均匀。搭建缺苗穴孔气吸式基质剔除试验平台,开展气吸式基质剔除多因素正交试验研究,结果表明:最优参数组合为:气压0.5 MPa、基质含水率50%~55%、气吸时间为3.0 s、有硅胶垫。开展性能验证试验,结果表明,穴盘缺苗穴孔检测模型平均正确率均值为96.1%,平均定位成功率为95.45%,基质平均剔净率在90%以上,整机作业效率为57 s/盘,满足实际剔补苗作业要求。 An air-suction substrates removal device was designed to solve the problem of low removal rate in the hole of the plug. Firstly, the missing seedling holes were detected and located by the deep learning model, and then the seedlings were transported to the substrates removal module. The linear module drived the air suction port to above the missing seedling holes. Finally, the negative pressure adsorption method was used to complete the task of removing the substrates. The effects of nine suction port structures were compared and analyzed by using the DEM-CFD coupled simulation method. The results showed that when the diameter of the circular tube at the suction port was 30 mm and the height of the shrinking tube was 50 mm, the optimal performance of high substrates removal rate and more uniform delivery was exhibited. A test platform for air-suction substrates removal of missing seedling holes was built, and a multi-factor orthogonal test study was carried out. The results showed that the optimal parameter combination was air pressure of 0.5 MPa, substrates moisture content of 50%~55%, and air-suction time of 3.0 s, with silicone pad. The performance verification test was carried out, and the results showed that the mean average recognition precision was 96.1%, the average positioning success rate was 95.45%, and the average substrates removal rate was over 90%, the working efficiency of the whole machine was 57 s/disk, which met the actual requirements of removing seedlings.
作者 崔永杰 朱玉桃 马利 丁辛亭 曹丹丹 何智 CUI Yongjie;ZHU Yutao;MA Li;DING Xinting;CAO Dandan;HE Zhi(College of Mechanical and Electronic Engineering,Northwest A&F University,Yangling,Shaanxi 712100,China;Key Laboratory of Agricultural Internet of Things,Ministry of Agriculture and Rural Affairs,Yangling,Shaanxi 712100,China;Shaanxi Key Laboratory of Agricultural Information Perception and Intelligent Service,Yangling,Shaanxi 712100,China)
出处 《农业机械学报》 EI CAS CSCD 北大核心 2022年第11期140-151,共12页 Transactions of the Chinese Society for Agricultural Machinery
基金 陕西省重点研发计划项目(2019ZDLNYO2-04)
关键词 穴盘苗 气吸式 基质 剔除装置 plug seedlings air suction substrate removal device
作者简介 崔永杰(1971—),男,教授,博士生导师,主要从事果蔬生产自动化研究,E-mail:agriculturalrobot@nwafu.edu.cn
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