| Soil nutrient analysis provides the most front-end data support for intelligent and mechanized production operations of modern agriculture.At present,soil detection is still mainly conducted in artificial laboratory,the low degree of automation,complex processing process,long processing cycle and low efficiency make it difficult to achieve large-area coverage detection and unable to meet requirements of precise fertilization in modern agriculture,which has become a key bottleneck problem restricting the development of modern agriculture in our country.In this dissertation,a kind of intelligent robot platform for soil nutrient analysis was designed by analyzing and studying the automated pretreatment technology of soil nutrient,which could complete the whole automatic analysis and treatment process from soil sample collection,sample preparation to nutrient extraction,achieve the intelligentized interpretation and control of soil nutrient analysis through the fusion of multiple sensors,and realize the accurate analysis of soil nutrient indexes by robot instead of human beings.The application of the robot platform will greatly reduce the labor intensity of the analysts,and provide important technical support for the national soil big data modeling,the promotion of soil testing formula fertilization technology and the development of agricultural modernization.The main contents of this paper are as follows:1.The overall technology of soil nutrient analysis of intelligent robot was studied,According to the requirements of automatic soil nutrient analysis,the design objectives and functional requirements of soil nutrient analysis robot were determined,and the overall design scheme of the robot platform structure,control system and software system was put forward,and the key technical problems involved were analyzed.2.The key technologies of soil nutrient analysis robot were studied,including soil sample automated collection technology,fast drying technology,grinding and sieving technology with controllable particle size and precise extraction technology of soil nutrients.A volumetric bottle visual volume determination algorithm based on basic morphology and Canny edge detection was proposed to solve the problem of volumetric bottle automatic volume determination in soil nutrient analysis by simulating the manual volume determination process.The non-destructive transfer technology of soil solid-liquid mixture was studied,and the washing process was modeled and analyzed by multi-physical field simulation software.The control parameters of the washing process were determined,and the non-destructive transfer of soil solid-liquid mixture was realized.The automatic heating and condensing backflow technology was studied,and the automatic heating and condensing backflow device was designed and optimized,which solved the problem of flexible docking between condensing pipe and conical bottle grinding mouth.3.According to the transfer demand of samples between different stations in the process of soil nutrient analysis,the design scheme of carrying manipulator was proposed.The path planning and job scheduling of the manipulator were studied,and a path planning and job scheduling algorithm based on genetic algorithm was proposed,and the handling process of the manipulator was optimized through simulation analysis.4.The automatic analysis platform of soil nutrients was built,the platform was divided into two parts:conventional extraction and heated extraction.The influence of experimental conditions on the test results was analyzed,the control parameters of the analysis process were determined,the accuracy and precision of soil nutrient analysis platform was tested,and the whole process of automatic analysis and treatment of the conventional six indexes in soil nutrient detection was realized.Finally,the platform and artificial analysis and detection efficiency were compared through experiments,and the accuracy and precision of the platform were verified.The test results met the requirements of national soil nutrient testing standards,and the demonstration application was carried out in some areas.This platform improves the standardization and repeatability of soil nutrient analysis process,and reduces the error and labor intensity of analysis and testing personnel.It is of great significance to promote the development of laboratory automation technology in soil nutrient analysis and testing field. |
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