草莓穴盘苗弓背定向自动移栽装置设计与试验

Design and Experiment of Automatic Transplanting Device for Strawberry Plug Seedlings with Arch-back Orientation

摘要:

针对现有草莓移栽装置缺乏弓背定向功能的问题，设计了一种具有弓背定向的草莓穴盘苗自动移栽装置。该装置由送苗装置、取苗定向装置、传送装置及直立下栽装置等组成，可实现穴盘输送、取苗、弓背定向及下栽作业。分析适栽期草莓穴盘苗外形参数，设计适用于草莓大苗钵特征的气动楔形弹性自复位取苗爪；开展直立下栽装置运动参数匹配分析，确定下栽鸭嘴开合角为0°~30°；基于匍匐茎与弓背反向关系，提出融合超绿算法与DBSCAN密度聚类的弓背识别算法进行弓背识别定向。以插入速度、取出速度、钵体含水率为试验因素，取苗成功率为指标进行正交试验。试验结果表明，影响取苗成功率因素主次顺序为：钵体含水率、插入速度、取出速度，最优参数组合为：插入速度150mm/s、取出速度124mm/s、钵体含水率50%~60%。整机试验结果表明，最优参数组合下移栽效率为16 株/min，取苗成功率为91.4%，平均株深为98.8mm，平均株距为194.3mm，定向成功率为95.7%，移栽成功率达87.5%，符合草莓移栽农艺要求。本研究为草莓高架栽培自动移栽装备研发提供了技术参考。

Abstract:

Aiming at addressing the deficiencies in the arch-back orientation function of existing strawberry transplanting devices, an automatic arch-back oriented transplanting apparatus for strawberry plug seedlings was designed. The system consisted of a seedling feeding device, a seedling extraction and orientation mechanism, a conveying device, and a vertical planting unit, which sequentially accomplished tray transportation, seedling extraction, arch-back orientation, and planting operations. Through analysis of morphological parameters of strawberry seedlings at transplanting stage, a pneumatic wedge-shaped elastic self-resetting extraction claw was developed to accommodate the characteristics of large strawberry plug seedlings. Motion parameter matching analysis for the vertical planting unit determined the optimal opening angle of the planting duckbill. Leveraging the inverse relationship between stolons and arch-back orientation, an orientation recognition method integrating ExG algorithm and DBSCAN clustering segmentation was implemented. Orthogonal experiments with insertion speed, extraction speed, and substrate moisture content as influencing factors revealed that substrate moisture (50%~60%) exerted the most significant impact on extraction success rate, followed by insertion speed (150mm/s) and extraction speed (124mm/s). System validation tests demonstrated that under optimal parameters, the device achieved a transplanting efficiency of 16 plants/min with 91.4% extraction success rate, 95.7% orientation accuracy, and 87.5% overall transplanting success. The average planting depth and spacing reached 98.8mm and 194.3mm, respectively, meeting agronomic requirements for strawberry cultivation. The research result can provide technical references for developing automated transplanting equipment in elevated strawberry cultivation systems.