高速移栽苗-机互作机理及钵苗状态检测方法研究

Seedling raising and transplanting is not only an important procedure in vegetable and economic crop production, but also an important agronomic measure to increase agricultural income and ensure safe supply of agricultural products. At present, it is difficult to raise the working speed by single machine in transplanting operation, where the working frequency is limited under 90 plants per minute. Meanwhile, quality effect control is difficult to improve, where the damage rate and leakage rate of potted seedlings in high speed condition are over 10%, and the upright rate is under 85%. Those problems are urgent to be solved as they cost considerable economic lost every year. This project proposes innovation concept of integrating the whole processes during transplanting; this is, around the operations of seedling picking, conveying, planting, various factors, such as organization, soil, seedling, etc. are taking into account to build the interactive model of the seedlings and the mechanism. At the same time, aiming at exploring the internal mechanism of restricting transplanting speed and quality effect, the scheme of structure improvement and path optimization design of target mechanism will be studied. Meanwhile, based on the motion force model and boundary condition of seedling and mechanical object, the multi-source sensor information and image recognition processing technology are integrated to realize the seedling missing detection, micro-pressure detection, nondestructive detection, etc. The method for detecting the state parameters of the potted seedlings during the whole stage of transplanting will be studied, and the integrated vehicle testing system is designed and integrated to realize the real-time monitoring of the effect of transplanting quality. The research of theory and method will develop new technology for high speed transplanting. This project has the potential to improve the efficiency and quality of seedling transplanting, and provide theoretical support for intelligent upgrading of transplanting equipment. The whole study has important scientific significance and application prospect.

育苗移栽是蔬菜及经济作物生产的重要环节，也是我国农业增收、确保农产品供给安全的精耕细作重要农艺措施，目前移栽作业存在单机速度提升难（单行频率≤90株/min）、质量效果控制难(高速状态钵苗损伤率和漏栽率≥10%、直立度≤85%)等问题亟待破解，本项目创新提出全过程一体化研究思路，即围绕高速作业取苗、输送、栽插全环节，综合考虑机构、土壤、秧苗等多方面因素，构建钵苗与机械物互作模型，探明制约移栽速度与质量效果间的内在机理，提出目标机构的结构改进与路径优化设计方案；以钵苗-机械物运动受力模型及边界条件为基础，融合缺苗检测、微压力检测、无损探测等多源传感信息与图像识别处理技术，研究钵苗全阶段状态参数检测方法，设计集成机载测试系统，实现移栽质量效果的实时监测。研究理论和方法将开辟高速移栽新技术，提升钵苗移栽效率与质量，为后续移栽装备智能升级亦提供了理论支撑，具有重要的科学意义和应用前景。

育苗移栽是蔬菜及经济作物生产的重要环节，也是我国农业增收、确保农产品供给安全的精耕细作重要农艺措施，高速移栽机械因缺乏有效监控手段，质量效果难保证，已成为制约其发展的重要因素。本课题针对上述问题，进行了高速移栽苗-机互作损伤机理研究，建立高速低损、低冲击取投运动轨迹模型，提出了机-电耦合无损检测思路，开发了钵苗移栽全过程中钵苗状态在线检测方法，为高速移栽机的高效低损、智能化设计提供理论依据及技术基础；研究理论和方法将提供移栽装备发展新思路，助力智能化升级，具备重要科学意义及应用前景。. 主要结论如下：. 1. 以辣椒钵苗为对象，开展钵苗机械力学特性研究，分析钵体受压缩损伤变化规律，探明了钵苗机械力学特性，界定损伤力值边界（断裂边界为12.579N-14.045N），阐明了钵苗在屈服、压实、断裂等受力阶段的生命体特征损伤机理。. 2. 综合钵苗力学特性、取苗位姿、插入角度、末端夹针结构参数，开展多因素试验分析，优化了取苗过程中钵苗-机械物间互作损伤因素，建立高速低损、低冲击取投运动轨迹模型，设计了入钵夹取式取苗机构，取苗成功率提升了12.4%。. 3. 仿真分析了机械条件下适用于取苗夹持力检测的压电材料特性，融合钵苗损伤特性、机构运动参数、苗-机互作机理以及新型材料等，提出了钵苗移栽全程状态非破坏性检测思路，建立了机-电耦合无损检测模型。. 4. 基于苗-机互作机理及栽插状态非破坏性检测模型，设计了多测点柔性薄膜取苗夹持力检测传感器，进行了钵苗栽插全过程状态检测新型系统样机的开发与应用。夹持力传感器测点灵敏度范围为21.65-23.12mv/N，线性度范围为0.9855-0.9913，量程可满足0-200N，钵苗直立度的检测平均误差值为3.16°，误差平均值为1.6%，栽深平均检测误差为0.54mm，平均误差率为1.54%。