甘薯移栽机漏栽检测及补栽装置设计与试验

Design and Test of Sweet Potato Transplanter Missed-planting Detection and Replanting Device

摘要:

为解决指夹式甘薯移栽机因薯苗姿态不佳、喂苗量不足等原因导致栽植夹未能成功夹取薯苗栽植入土的问题，本文基于 2ZQX-2/1 型移栽机，设计了一种对射式红外光电传感器漏栽检测系统及自动补栽装置。漏栽检测系统及补栽装置为移栽机的独立工作模块，漏栽检测系统采用对射式红外光电传感器构建的延时判别机制，通过检测栽植夹与甘薯苗在限定的时间窗口内对传感器的触发情况，实时判别栽植夹是否成功夹取甘薯苗栽植人土。补裁装置的栽植机构采用步进电机驱动补栽夹，并结合电动推杆与导轨实现左行及右行的补栽作业;补栽装置的送苗机构则采用步进电机控制的丝杠导轨实现补裁装置精确推送薯苗。构建了以 PLC 为核心的控制系统，实现了漏裁判定及补栽操作之间的自动化协同工作。台架试验表明，移栽机速度在 0.2~0.4m/s 范围内，漏栽检测系统漏检和误检率之和不超过 5%。田间试验结果表明，移栽机工作速度分别为 0.2、0.3、0.4m/s 时，漏裁检测系统识别成功率均超过 97%, 整机平均漏裁率分别为 0.68%、0.85%、1.37%, 相较于未启用补栽装置降低了 8.11~9.55 个百分点。

Abstract:

In order to solve the problem that the finger-clamp sweet potato transplanter fails to successfully pick up the potato seedlings and plant them into the soil due to poor posture of potato seedlings and insufficient feeding amount, based on the 2ZQX - 2/1 transplanter, a missed planting detection system with infrared photoelectric sensor and an automatic replanting device were designed. The missed planting detection system and replanting device were independent working modules on the transplanter, and the missed planting detection system adopted a delayed discrimination mechanism constructed by a through-beam infrared photoelectric sensor, which detected the triggering of the sensor between the planting clip and the sweet potato seedlings within a limited time window, and determined whether the planting clip successfully picked up the sweet potato seedlings and implanted them into the soil in real time. The planting mechanism of the replanting device adopted a stepper motor to drive the replanting clamp, and combined the electric push rod and guide rail to realize the left and right row replanting operations. The seedling feeding mechanism of the replanting device adopted a lead serew guide rail controlled by a stepper motor to accurately push the potato seedlings for the replanting device. A control system with PLC as the core was constructed to realize the automatic collaborative work between missed planting judgment and replanting operation. The bench test showed that the sum of missed detection and false detection rate of the missed planting detection system was less than or equal to 5% in the range of transplanter speed of 0. 2 ~ 0.4 m/s. The field test results showed that when the working speed of the transplanter was 0.2 m/s, 0.3 m/s and 0.4 m/s, the success rate of missing planting detection system was more than 97%, and the average missed planting rate of the whole machine was 0.68%, 0.85% and 1.37%, respectively, compared with that when the replanting device was not activated, it was decreased by 8. 11 to 9. 55 percentage points.