本文選題：穴盤苗 + 自動移栽��； 參考：《吉林大學(xué)》2016年博士論文

【摘要】：目前,國內(nèi)的蔬菜穴苗移栽方式以人工為主,作為育苗過程的重要環(huán)節(jié),穴苗移栽設(shè)備的自動化、機(jī)械化實(shí)現(xiàn),可減少勞動強(qiáng)度,提高作業(yè)效率,且保證移栽穴苗的一致性效果。隨著穴盤育苗技術(shù)的日漸成熟和普及,國內(nèi)自動穴苗移栽設(shè)備的發(fā)展滯后已成為蔬菜穴苗行業(yè)發(fā)展的“瓶頸”,目前尚無可以在生產(chǎn)實(shí)際中使用的自動移栽設(shè)備。試驗(yàn)中移栽機(jī)械應(yīng)用到實(shí)際的移栽過程時常表現(xiàn)為穴苗缽體破裂,幼苗受損,致使移栽成功率不高。其主要原因是國內(nèi)對穴盤缽體移栽機(jī)械基礎(chǔ)理論研究不充分、不全面,導(dǎo)致對實(shí)用技術(shù)支撐不足,有些成果還處于試驗(yàn)階段,制約了移栽機(jī)械的發(fā)展。本文采用機(jī)器視覺和仿真試驗(yàn)的手段對蔬菜穴盤幼苗移栽關(guān)鍵技術(shù)進(jìn)行研究,旨在提高移栽效率,保證移栽效果,達(dá)到一致性移栽。首先,本文針對自動化移栽過程中穴盤定位不準(zhǔn)確而常導(dǎo)致移栽效果不理想的問題,提出基于雙目立體視覺的穴盤定位方法。分別從二維和三維角度進(jìn)行算法研究,對穴盤進(jìn)行平面和立體定位,完成穴盤中心點(diǎn)坐標(biāo)、角度定位以及從立體的角度對穴盤表面姿態(tài)的模擬。從而達(dá)到準(zhǔn)確指導(dǎo)末端執(zhí)行器精準(zhǔn)取苗的目的。其次,在實(shí)際移栽過程中,移栽缽體極易受損,而統(tǒng)一自動化移栽手段不能及時對受損缽體進(jìn)行補(bǔ)救,造成移栽后穴苗生長周期不同,出現(xiàn)參差不齊,移栽效果不理想的現(xiàn)象。針對這一生產(chǎn)實(shí)際問題,提出了一種基于形態(tài)學(xué)圖像檢測方法的機(jī)械手移栽缽體判別技術(shù),該方法通過對比每個樣本的三個角度圖像中缽體基質(zhì)面積與基準(zhǔn)面積的比值,對缽體受損程度進(jìn)行判別,及時分類、補(bǔ)救,達(dá)到一致性移栽效果。再次,通過多因素試驗(yàn),確定了取苗執(zhí)行器外形結(jié)構(gòu)是影響缽體基質(zhì)移栽效果的主要因素,測試的因素包括:基質(zhì)含水率,取苗執(zhí)行器執(zhí)行結(jié)構(gòu)的外形特征,作物生長初期幼苗根系對基質(zhì)抗剪性能提升的效果。并將基質(zhì)完整率作為試驗(yàn)指標(biāo),通過試驗(yàn)給出夾持力與夾持量的對應(yīng)關(guān)系,明確各取苗執(zhí)行器執(zhí)行結(jié)構(gòu)的最佳夾持量,采用正交試驗(yàn)的方法得出主次影響因素和優(yōu)水平。然后,通過ANSYS/LS-DYNA有限元軟件,多因素影響的移栽測試試驗(yàn)分析結(jié)論,在測試了缽體基質(zhì)的物理參數(shù)的同時,分析了不同末端執(zhí)行器執(zhí)行結(jié)構(gòu)對缽體基質(zhì)作用的應(yīng)力響應(yīng)。最后,通過二次開發(fā)測試系統(tǒng)軟件,與機(jī)械手控制平臺通信,完成總體試驗(yàn),通過設(shè)計總體試驗(yàn)方案、步驟和試驗(yàn)各環(huán)節(jié),以逐步、遞進(jìn)的方式對本論文研究的關(guān)鍵技術(shù)進(jìn)行驗(yàn)證試驗(yàn),證明了各關(guān)鍵技術(shù)的可行性和準(zhǔn)確性。通過對本文基于機(jī)器視覺和仿真試驗(yàn)的蔬菜穴盤幼苗移栽關(guān)鍵技術(shù)研究得出以下結(jié)論:(1)從試驗(yàn)結(jié)果可以看出基于雙目立體視覺機(jī)械手穴盤定位方法能夠比較準(zhǔn)確模擬出穴盤表面姿態(tài),總體誤差較小,可以滿足植物工廠自動化移栽要求,可用于移栽過程中引導(dǎo)機(jī)械手精準(zhǔn)定位。(2)通過形態(tài)學(xué)圖像檢測方法對移栽缽體效果進(jìn)行判別,方法簡單易行,并獨(dú)立開發(fā)計算基質(zhì)完整率識別系統(tǒng)軟件用于計算基質(zhì)完整率和判斷樣本合格與否。處理時間短,準(zhǔn)確率高,能夠匹配機(jī)械手移栽流水線作業(yè)的要求,可用于取缽效果判別。(3)試驗(yàn)結(jié)果表明:執(zhí)行結(jié)構(gòu)外形特征是主要影響因素,并確定U型形狀為最佳;基質(zhì)含水率對取苗結(jié)果有一定影響,含水率在50%左右為最佳;在幼苗長出第1對真葉時取苗,幼苗根系對基質(zhì)抗剪性能提升的效果對取苗影響不大,本文為進(jìn)一步研究和改善穴盤幼苗移栽設(shè)備的關(guān)鍵技術(shù)點(diǎn)提供參考。(4)通過ANSYS/LS-DYNA有限元軟件仿真分析,結(jié)果表明Z型結(jié)構(gòu)、U型結(jié)構(gòu)在插入缽體基質(zhì)過程中應(yīng)力分布合理,其對基質(zhì)擾動和擠壓破壞小。對三種末端執(zhí)行器結(jié)構(gòu)夾取缽體基質(zhì)進(jìn)行仿真分析,Z型結(jié)構(gòu)對缽體應(yīng)力集中,缽體內(nèi)部Von Mises應(yīng)力變化大容易使缽體破裂。B型結(jié)構(gòu)、U型結(jié)構(gòu)對缽體基質(zhì)內(nèi)Von Mises應(yīng)力變化平緩,對基質(zhì)擾動和擠壓破壞小,在夾取過程中可保證缽體基質(zhì)完整性。驗(yàn)證了U型結(jié)構(gòu)末端執(zhí)行器的合理性,其對缽體基質(zhì)擾動和擠壓破壞小,在夾取過程中可保證缽體基質(zhì)完整性。(5)綜合性能測試試驗(yàn)結(jié)果表明,本文提出的基于機(jī)器視覺和仿真試驗(yàn)的蔬菜穴盤幼苗移栽關(guān)鍵技術(shù)研究方法準(zhǔn)確、可行,各關(guān)鍵技術(shù)為穴盤苗自動化機(jī)械化移栽提供了技術(shù)支持�？傊�,本文從穴盤移栽過程中存在的問題入手,采用機(jī)器視覺技術(shù),提出穴盤定位、取缽效果判別的技術(shù)方案。同時,通過試驗(yàn)分析了影響基質(zhì)完整率的因素,并進(jìn)一步對缽體應(yīng)力響應(yīng)做仿真分析。本文研究成果可以作為穴盤自動化機(jī)械移栽設(shè)計的理論基礎(chǔ)和技術(shù)支持。
[Abstract]:At present, the domestic vegetable seedling transplanting method is mainly artificial. As an important part of the seedling raising process, the automation and mechanization of the plant transplant equipment can reduce the labor intensity, improve the efficiency of the operation, and ensure the consistency effect of the transplant seedlings. With the growing maturity and popularization of the acupoint seedling raising technique, the automatic transplant equipment is used in China. The lag of development has become "the bottleneck" of the development of vegetable acupoint seedling industry. There is no automatic transplanting equipment that can be used in production practice at present. In the experiment, the transplant machine is often used in the actual transplanting process, which is often manifested by the rupture of the pot body, the damage of the seedlings and the low success rate of transplanting. The main reason is the transplanting of the potted bowl body in China. The theoretical research of mechanical foundation is inadequate and incomplete, which leads to insufficient support for practical technology, and some results are still in the experimental stage, which restricts the development of transplanting machinery. This paper uses machine vision and simulation test to study the key techniques of vegetable seedling transplanting, aiming at improving transplanting efficiency and ensuring the effect of transplanting. First, in this paper, aiming at the problem that the location of the hole disc is not accurate in the process of automatic transplanting, the problem that the effect of transplanting is not ideal is not ideal, and the method of location based on binocular stereo vision is put forward. In order to accurately guide the end actuators to accurately pick up the seedlings, the transplant bowl body is easily damaged during the actual transplanting process, and the unified automatic transplanting means can not remediate the damaged bowl in time, resulting in the different growth cycle of the seedlings after transplanting, and uneven growth. The effect of transplanting is not ideal. Aiming at the actual problem of the production, a kind of machine hand transplanting bowl discrimination technique based on the morphological image detection method is proposed. By comparing the ratio of the base area of the bowl body to the base area in the three angle images of each sample, this method discriminating the damage degree of the bowl body, classifying and repairing in time. Again, through multiple factors test, the main factors affecting the transplant effect of the seedling matrix are determined by the multi factor test. The factors of the test include the moisture content of the matrix, the shape characteristics of the executive structure of the seedling, and the effect of the root to the shear performance of the substrate at the early stage of the crop growth. The matrix integrity rate is taken as the test index, and the corresponding relationship between clamping force and holding capacity is given through the test. The optimum holding capacity of the executive structure of each seeding actuator is clearly defined. The influence factors and the superior level of the main and secondary factors are obtained by the orthogonal test method. Then, through the ANSYS/LS-DYNA finite element software, the transplanting test analysis of multiple factors is analyzed. On the basis of testing the physical parameters of the bowl matrix, the stress response of the actuator structure of the different end actuators is analyzed. Finally, through the two development and testing system software, communication with the control platform of the manipulator is used to complete the overall test, and through the design of the general test scheme, the steps and the test links, progressively and progressively. To verify the feasibility and accuracy of the key technologies in this paper, the following conclusions are obtained through the research on the key techniques of the transplant of vegetable cavern seedlings based on machine vision and simulation test. (1) it can be seen from the experimental results that the position of the binocular stereovisual manipulator is located. The method can accurately simulate the posture of the surface of the hole plate, and the overall error is small. It can meet the plant plant automatic transplanting requirements and can be used to guide the precise positioning of the manipulator in the process of transplanting. (2) the effect of the transplanting bowl body is judged by the morphological image detection method, the square method is simple and easy, and the complete rate recognition of the matrix is independently developed. The system software is used to calculate the integrity of the matrix and judge whether the sample is qualified or not. The processing time is short and the accuracy is high. It can match the requirements of the manipulator transplanting assembly line, and it can be used to determine the effect of the bowl. (3) the results of the test show that the main influence factor is the shape of the execution structure, and the shape of the U is the best; the matrix moisture content is taken The results of seedling have a certain effect. The water content is about 50%. The effect of seedling root on the shear resistance of the seedlings is not significant. This paper provides a reference for further research and improvement of the key technical points of the transplant equipment of the acupoint seedlings. (4) through the ANSYS/LS-DYNA finite element software simulation. The results show that the stress distribution of the Z type structure and the U type structure is reasonable in the process of inserting the bowl body matrix, and the matrix disturbance and the extrusion damage are small. The simulation analysis on the matrix of the bowl body of the three terminal actuator structures is carried out, the stress concentration of the Z type structure is concentrated on the bowl body, and the change of the Von Mises stress in the bowl body makes the bowl body rupture.B type structure and U type knot. The stress change of Von Mises in the bowl matrix is slow, the matrix disturbance and the extrusion failure are small, and the matrix integrity of the bowl can be ensured during the clamping process. The rationality of the end actuator of the U type structure is verified. The matrix integrity of the bowl matrix is small, and the matrix integrity of the bowl can be ensured during the clamping process. (5) comprehensive performance test test The results show that the key technology of vegetable seedling transplantation based on machine vision and simulation test is accurate and feasible, and the key techniques provide technical support for automatic mechanization transplanting of acupoint seedlings. A technical scheme of bowl discriminatory effect. At the same time, the influence factors of matrix integrity rate are analyzed by experiment, and further to the pot body stress response simulation analysis. The results of this study can serve as a theoretical basis and technical support tray design automation mechanical transplanting.
【學(xué)位授予單位】：吉林大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2016
【分類號】：S223.94

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