The Research Of Velocity Model About Human Uprooting Cassava Roots

Harvest methods of digging cultivated and uprooted separated(dig-pull-type harvest)is the main harvest way of cassava roots,and it adapts to the growth situation of a variety of soil and roots well,and the roots are not easy to damage,the power consumption is small.But the key of this harvesting approach is to determine the optimum velocity model of uprooted,to improve uprooted efficiency and reduce the loss and damage of the root.And there is no study about the velocity model of uprooting,so it is very important to do the research and the optimization of uprooted velocity..Based on bionics principles,using the experience sampling method and physical test methods,with the sampling uprooting test of the experienced cassava farmers,this paper measured the law of the acceleration variation and uprooted force variation when the root was uprooting.With the nonlinear curve fitting and optimization methods,it built the optimum velocity models of human uprooting and mechanical uprooting,and explored the adaptive adjustment mechanism of human uprooting.The results showed that the established optimum velocity model that human Uprooting was with high accuracy,the minimum of correlation coefficient was 0.92;the established optimum velocity model that mechanical Uprooting was reasonable,and was easy to realize the control;when uprooted the cassava roots,human was uprooting and at the same time jitter control the uprooting velocity(uprooting force),which could effectively loose the soil that adhere to denotation of the roots,reduce the cohesive force between roots and the soil,reduce the shear strength between roots and the soil,and reduce even avoid the breakage of roots;human uprooted the roots using their own physical feedback kinematic chain to pass the enhanced placement and the uprooting force to central nervous system quantitatively,then with the help of the sense organs,made human achieve the oil tightness of the charged objects and the uprooting height of the roots,at the same time carried out the desired control of the replacement and the force of the roots.