吉林大学学报(工学版) ›› 2021, Vol. 51 ›› Issue (1): 386-396.doi: 10.13229/j.cnki.jdxbgxb20190848

• 农业工程·仿生工程 • 上一篇    

水稻机械除草避苗控制系统设计与试验

陈学深(),黄柱健,马旭(),齐龙,方贵进   

  1. 华南农业大学 工程学院,广州 510642
  • 收稿日期:2019-06-15 出版日期:2021-01-01 发布日期:2021-01-20
  • 通讯作者: 马旭 E-mail:chenxs@scau.edu.cn;maxu1959@scau.edu.cn
  • 作者简介:陈学深(1977-),男,副教授,博士. 研究方向:现代农业技术与智能装备. E-mail:chenxs@scau.edu.cn
  • 基金资助:
    国家自然科学基金项目(51575195);广东省重点领域研发计划专项项目(2019B020221002);广东省杰出青年基金(2019B151502056);广州市科技计划项目(201803020021);现代农业产业技术体系建设专项资金项目(CARS-01-43)

Design and test of control system for rice mechanical weeding and seedling-avoiding control

Xue-shen CHEN(),Zhu-jian HUANG,Xu MA(),Long QI,Gui-jin FANG   

  1. College of Engineering,South China Agricultural University,Guangzhou 510642,China
  • Received:2019-06-15 Online:2021-01-01 Published:2021-01-20
  • Contact: Xu MA E-mail:chenxs@scau.edu.cn;maxu1959@scau.edu.cn

摘要:

为使除草部件的作业路径能避开稻苗,降低机械除草的伤苗率,设计了一种机器视觉与液压伺服控制技术相结合的避苗控制系统。采用垂直俯拍方式,提取了稻苗冠层边界的形心图像坐标位置,通过小孔成像模型转换,获得稻苗地面坐标位置及除草部件中心与苗行中心线的距离。建立了平行四杆纠偏机构的液压控制系统模型,获得纠偏调控量与液压推杆的映射关系。基于PID 控制算法,建立了比例阀液压系统数学模型,应用Matlab/Simulink仿真表明:模型的稳态响应时间约为0.28 s,静差约为0.07 mm。进行了台架试验,结果表明:图像处理系统提取苗行中心线误差不超过3 cm;正交试验结果表明:避苗控制系统中伤苗率的影响因素主次顺序为:行进速度、移栽天数、稻苗间距,当行进速度为0.8 m/s、移栽天数为10 d、稻苗株距为12 cm时,伤苗率为2.48%。

关键词: 农业工程与信息技术, 水稻, 机械除草, 避苗控制, PID算法, 仿真分析

Abstract:

To enable the weeding component to avoid the seedling on the operation path and reduce the seedling injury rate of machinery weeding, an automatic seedling avoidance control system based on machine vision and hydraulic servo control is proposed in this paper. First, by the way of overshoot, the centroid image coordinate position of the seedling canopy is extracted. Second, through pinhole imaging principle conversion, the seedling ground coordinate position and the distance between the weeding component and the center line of rice row are obtained. Third, a hydraulic control systems model of parallel four connecting rods of organizations is built, and the mapping relations between deviation control and hydraulic stem is acquired. Finally, based on PID algorithm, a proportional valve hydraulic system mathematical model is built. The Matlab/Simulink simulation shows that the model has a steady-state response time of 0.28 s and a static error of 0.07 mm. The results of bench test indicate that the error of the center line of the seedling belt extracted by the image processing system does not exceed 3 cm. The Orthogonal experiment indicates that the factors affecting the seedling injury rate in the avoiding plants control system are in the order of speed of travel, time of transplanting and spacing of plants. When the traveling speed is 0.8m/s, the transplanting time is 10 days, and the intra-row distance of rice seedling is 12 cm, the seedling injury rate is 2.48%.

Key words: agricultural engineering and information technology, rice, mechanical weeding, avoiding plants control, PID algorithm, simulation analysis

中图分类号: 

  • S237

图1

避苗控制原理图"

图2

图像处理效果图"

图3

拟合的苗行中心线"

图4

纠偏原理图"

图5

系统控制硬件图"

图6

系统控制软件图"

图7

液压推杆伸缩量与平行四杆纠偏调控量关系图"

图8

比例方向阀液压系统数学模型"

图9

PID控制算法仿真模型"

图10

PID控制算法仿真结果"

图11

土槽试验平台"

图12

不同参数下苗行中心线的变动情况"

表1

试验因素与水平"

试验因素水 平
行进速度/(m·s-1)0.81.01.2
稻苗株距/cm121518
移栽天数/d101520

表2

正交试验结果"

行进速度A/(m·s-1)稻苗株距B/cm移栽天数C/d伤苗率/%
试验号10.812102.48
20.815154.32
30.818203.04
41.012154.24
51.015203.92
61.018103.36
71.212204.56
81.215104.96
91.218155.12
伤苗率/%K1ˉ3.283.763.60
K2ˉ3.844.404.56
K3ˉ4.883.843.84
R1.600.640.96

表3

性能指标方差分析"

指标方差来源偏差平方和自由度平均偏差平方和F显著性P
模型6.18261.03017.8890.054
伤苗率/%A3.95521.97834.3330.028
B0.73020.3656.3330.136
C1.49820.74913.0000.071
误差0.11520.058
总和150.2989
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