基于改进YOLO v5n的工厂化育秧田间铺盘装置设计与试验  

Design and Testing of Field Disk Spreading Device Based on Improved YOLO v5n

作　　者：虞佳佳[1] 李玉 周延锁 胡万里 郝帅 李雷 YU Jiajia;LI Yu;ZHOU Yansuo;HU Wanli;HAO Shuai;LI Lei(Zhejiang Institute of Mechanical and Electrical Engineering,Hangzhou 310053,China;Zhejiang Society for Agricultural Machinery,Hangzhou 310003,China;Zhejiang Institute of Industry and Information Technology,Hangzhou 310003,China;Zhengyang Technology Co.,Ltd.,Jinhua 321300,China;Zhejiang Modern Agricultural Equipment Design and Research Institute,Hangzhou 310003,China;School of Information Science and Engineering,Zhejiang Sci-Tech University,Hangzhou 310018,China)

机构地区：[1]浙江机电职业技术学院,杭州310053 [2]浙江省农业机械学会,杭州310003 [3]浙江省工业和信息化研究院,杭州310003 [4]正阳科技股份有限公司,金华321300 [5]浙江省现代农业装备设计研究院,杭州310003 [6]浙江理工大学信息科学与工程学院,杭州310018

出　　处：《农业机械学报》2024年第8期71-80,116,共11页Transactions of the Chinese Society for Agricultural Machinery

基　　金：浙江省重点研发计划项目(2021C02022、2022C02056)。

摘　　要：针对目前工厂化育秧育苗田间铺盘自动化程度低、成本高等问题,设计了一种全自动双边轨道式田间铺盘装置,并配备苗床异常凸起视觉检测模块。首先对铺盘结构工作原理进行分析,之后对铺盘装置满载作业状况进行结构设计、受力分析和仿真分析。为了防止苗床异常凸起导致铺盘时秧盘倾斜,影响炼苗成活率,提出了一种基于CBAM-YOLO v5n的苗床异常凸起目标识别算法,改进后的YOLO v5n算法添加了注意力机制,对苗床异常凸起目标检测准确率、召回率和平均精度均值分别为98.1%、91.7%和94.9%,相对于原模型分别提高1.2、1.7、0.9个百分点。对设计的铺盘样机进行了正交试验,试验结果表明,当铺盘高度为90 mm、铺盘机构转速为550 r/min、铺盘箱平移速度为0.14 m/s时,铺盘成功率最高为96.4%,植入机器视觉模块后,铺盘成功率可达99.3%。设计的铺盘装置可有效降低人工铺盘劳动强度,降低铺盘劳动成本。Aiming at the problems of low automation and high cost of field spreading device for factory planting seedlings,a fully automated bilateral rail type field spreading device with a visual detection module for abnormal bumps in seedbed was designed.Firstly,the working principle of the tray spreading structure was analyzed,and then the structural design,force analysis and simulation analysis were carried out on the full-load operation condition of the tray spreading device.In order to prevent the abnormal bulge of seedbed from tilting the seedling tray when spreading the tray,which affected the survival rate of seedling refining,an abnormal bulge target recognition algorithm was proposed based on CBAM-YOLO v5n,and the improved YOLO v5n algorithm added the attention mechanism,and the average values of accuracy,recall,and average precision for the detection of the abnormal bulge target of the seedbed were respectively 98.1%,91.7%and 94.9%,which were 1.2 percentage points,1.7 percentage points and 0.9 percentage points higher than that of the original model,respectively.The developed tray-laying prototype was tested by orthogonal test method,and the test results showed that when the height of tray-laying was 90 mm,the rotational speed of tray-laying mechanism was 550 r/min,and the translational speed of tray-laying box was 0.14 m/s,the highest tray-laying success rate was 96.4%,and after implanting the machine vision module,the tray-laying success rate can reach 99.3%.The designed tray spreading device can effectively reduce the labor intensity of manual tray spreading and reduce the labor cost of tray spreading.

关 键 词：田间铺盘 工厂化育秧 双边轨道式 机器视觉 YOLO v5n 

分 类 号：S223.1[农业科学—农业机械化工程]