水稻机械除草避苗控制系统设计与试验

doi:10.13229/j.cnki.jdxbgxb20190848

Abstract

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

CLC Number:

S237

Xue-shen CHEN,Zhu-jian HUANG,Xu MA,Long QI,Gui-jin FANG. Design and test of control system for rice mechanical weeding and seedling-avoiding control[J].Journal of Jilin University(Engineering and Technology Edition), 2021, 51(1): 386-396.

Figures/Tables 15

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Table 1

Table 2

Orthogonal test results"

		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	1	0.8	12	10	2.48
	2	0.8	15	15	4.32
	3	0.8	18	20	3.04
	4	1.0	12	15	4.24
	5	1.0	15	20	3.92
	6	1.0	18	10	3.36
	7	1.2	12	20	4.56
	8	1.2	15	10	4.96
	9	1.2	18	15	5.12
伤苗率/%	$K 1 ˉ$	3.28	3.76	3.60
	$K 2 ˉ$	3.84	4.40	4.56
	$K 3 ˉ$	4.88	3.84	3.84
	$R$	1.60	0.64	0.96

Table 2

Table 3

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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	6.182	6	1.030	17.889	0.054
伤苗率/%	A	3.955	2	1.978	34.333	0.028
	B	0.730	2	0.365	6.333	0.136
	C	1.498	2	0.749	13.000	0.071
	误差	0.115	2	0.058
	总和	150.298	9

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

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