蔬菜移栽钵苗检测与缺苗补偿系统设计与试验  

Design and Experiment of Detection and Supply System of Vegetable Plug Seedlings for Transplanting

作　　者：文永双 张宇 田金元 袁挺[1] 张俊雄[1] 谭豫之[1] WEN Yongshuang;ZHANG Yu;TIAN Jinyuan;YUAN Ting;ZHANG Junxiong;TAN Yuzhi(College of Engineering, China Agricultural University, Beijing 100083, China)

机构地区：[1]中国农业大学工学院,北京100083

出　　处：《农业机械学报》2020年第S01期123-129,共7页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家重点研发计划项目(2017YFD0701300)。

摘　　要：为解决蔬菜穴盘苗全自动移栽机因穴盘缺苗、取投苗失败等因素导致的漏栽现象,设计了基于多传感器的钵苗检测及缺苗补偿系统(补苗系统)。补苗系统作为独立功能模块,包括补苗装置、钵苗检测单元和控制系统,使用反射型光纤传感器和激光传感器联合检测的方法,对分行苗杯定位和苗杯内钵苗进行识别。利用光纤传感器分别对辣椒、番茄、甘蓝钵苗进行多高度检测试验,以获取光纤传感器最佳检测高度和最佳缺苗判定阈值。设计了自动补苗装置,并对补苗过程进行运动学分析。使用触摸屏、PLC、EM253位置模块等控制元件设计了控制系统,实现整机及补苗系统的控制。对补苗系统进行不同移栽频率下的性能对比试验,试验结果表明:在单行栽植频率分别为60、70、80株/min时,补苗系统识别成功率分别为98.15%、98.15%、97.69%,移栽机平均漏栽率分别为1.85%、2.31%、2.31%,比未启用补苗系统时漏栽率分别降低了14.59、14.36、15.52个百分点,为进一步提高蔬菜移栽作业品质提供参考。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 HMIPLC 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 perce

关 键 词：蔬菜穴盘苗 移栽 钵苗检测 补苗系统 

分 类 号：S223.92[农业科学—农业机械化工程]