典型非规则形态种子精量排种系统单粒均匀有序运移及自由度约束控制机理研究

Aiming at the problems of large differences in mechanical and physical properties of typical irregular morphological seeds of some crops, complex links during seed discharging and poor control stability, and urgency to improve the technical system, some scientific innovation research are carried out centre on its basic theory and design technique. The method of measuring multi-dimensional mechanical and physical properties of typical irregular morphological seeds is systematically analyzed. The basic interdependence law of complex populations is clarified. The mechanism of effective separation and method of orderly migration control in gas-solid multiphase coupled field are revealed. The path planning and freedom constraint control strategy for the smooth movement of single seed is proposed. And then the study proposes the modular design scheme which is suitable for synchronous sorting of mechanical clamping/scooping and air-suction/air-blowing combination, active flexible seed guiding and air-blown ejection seeding. The influence mechanisms of multi-dimensional characteristics and migration status of seeds on seed discharging are explored. The interaction mechanisms of each functional module and the digital modeling method are studied, and an intelligent design application platform which is facing the integration of agricultural machinery and agronomy knowledge base, digital design technology group and optimization reasoning machine is established. The series of precision metering system prototypes are integrated. The systematic precision seeding theory and global optimization design technique of typical irregular morphology are formed. The results of project can improve the basic theory of precision seeding effectively and enrich the effective control research methods of complex populations, which have important scientific significance and application value.

针对多种作物典型非规则形态种子机械物理属性差异性大、排种串联环节复杂且控制稳定性差和亟需完善系统技术体系等难题，围绕其基础理论与设计方法开展科学创新研究。研究系统分析典型非规则形态种子多维度机械物理属性测定方法；阐明复杂种群相互依存基础规律，揭示气固多相耦合场内有效分离机理及有序运移控制方法，解析单粒种子平稳运移轨迹路径规划和自由度约束控制策略；提出机械夹持/舀取与气吸/气吹组合同步分种、主动柔性导种与气吹弹射投种等相结合的模块化设计方案，探明种子多维度特性及运移状态对排种环节影响机制，研究各功能模块交互机制及数字化建模方法；建立面向农机农艺融合知识库、数字化设计技术群和优化推理机的智能设计应用平台，试制系列精量排种系统原型样机；形成系统完整的典型非规则形态种子精量排种系统基础理论与全局最优化设计方法。有效完善精量播种基础理论，丰富复杂颗粒群有效控制研究方法，具有重要科学意义与应用价值。

项目探究了多种非规则形态种子多维度物理属性与机械部件间作用关系，建立了系统分析非规则形态种子物理属性测定方法；研究了复合介质下非规则形态种子充种及分种环节共性耦合作用机制，阐明了单粒种子平稳有序运移控制机理；综合形成了排种串联环节仿真优化分析流程与方法；提出了典型非规则形态种子精量排种系统的设计分析方法，创制了适于种子多维度姿态的机械与气力组合同步分种、主动柔性导种等相结合的模块化排种系统，揭示影响典型非规则形态种子单粒均匀有序运移排种过程约束关系。创制了多种非规则种子多维度姿态的机械夹持/舀取与气力组合同步分种、主动柔性导种与气吹投种相结合的模块化排种系统，揭示了影响典型非规则形态种子均匀有序运移排种过程约束条件；提出了提升精量排种环节作业稳定性及可靠性控制策略，研究了精量排种系统各功能模块交互机制及数字化建模方法。以北方寒地主要粮食作物玉米、水稻为研究载体，以农艺农机融合思想为主线，进行旱作高速免耕播种机与水作精量穴直播机集成配置，开展系统融合试验、台架检测试验及田间性能试验等，实现了典型非规则形态种子的高速精量播种。项目实施形成了具有代表性和普适性的非规则形态种子精量排种系统基础理论与全局优化方法，有效完善了精量播种基础理论，丰富了复杂颗粒群有效控制研究方法与手段，具有重要科学意义与应用价值。.历经3年系统研究，公开发表SCI收录论文15篇，其中部分论文发表于行业领域高水平期刊；授权发明专利9件，申请发明专利19件，其中核心技术已与黑龙江德沃科技开发有限公司达成联合开发协议（转化经费30万元），与相关企业开展校企合作；受邀参加国内外学术会议并进行主题汇报及交流，开展线上线下技术培训16次。