Design And Tests Of Intelligent Sorting-transplanting-replanting Integrated Machine For Plug Seedlings In Greenhouse

Aiming to the major defects of the existing automatic sorting,transplanting and replanting systems in greenhouse,such as complex and huge transplanting system,complex and lengthy operation process,and high equipment investment and huge operation workspace,this paper developed an intelligent sorting-transplanting-replanting integrated machine for plug seedlings in greenhouse,focusing on conquering the integrated operation technical problems of “sorting-transplanting-replanting”.Non-stop monitoring and sorting and replanting could be realized on the way of row transplanting on the basis of not changing the structure and operation process of the existing transplanting system,effectively avoiding the complex and inefficient defects of the existing complete transplanting system.The thesis research work and conclusions in this paper are as follows:(1)The key shortcomings of the existing automatic sorting,transplanting and replanting schemes are analyzed,and an intelligent monitoring scheme for plug seedlings based on RGBD camera was proposed,and then an integrated layout and positioning scheme for sortingtransplanting was obtained;and the strategy for supplying seedling in the same source tray was put forward,and an innovated and integrated layout and positioning scheme for sortingtransplanting-replanting integrated machine was obtained;an innovative integrated layout and positioning scheme for plug-replacing and transplanting on the basis of the process that monitoring on the picking area and supplying the seedlings on the same tray was designed consequently.The non-stop monitoring for sorting-replanting in row transplanting could be realized on the basic of no changing the main structure and process of the existed transplanting system,which avoided the complex and inefficient defects of the existed sorting-transplantingreplanting integrated transplanting system effectively.(2)In order to realize the overall scheme of an intelligent sorting-transplanting-replanting integrated machine,the chain conveyor mechanism of source tray and target tray were designed,which can automatically clean the mixed soils on the tray conveyor surface while accurately feeding along the tray.The light and flat multi-claw transplanting mechanism was designed,which can not only meet the rapid operation of multi-claw transplanting in the row,but also realize minimizing interference space of the replanting mechanism with single claw.The fast and flexible linear & SCARA single-claw replanting mechanism,which can quickly coordination between the target plug and source plug and realize replanting operation flexibly.And the kinematics simulation of three different schemes of forwarding,hoisting and sidemounting between SCARA and expansion modules in replanting mechanism under actual working conditions were done by ADAMS,the results showed that the forwarding-mounting scheme was the best.The kinematics analysis of SCARA was carried out,and by the results of MATLAB simulation further confirmed that the workspace of SCARA could meet the needs of replanting operation.And module control system was designed which could realize coordinated movement of multiple operating mechanisms.After trial-manufacture,assembly and debugging of the above mechanisms,the prototype was realized.(3)Around the function of achieving operation for the prototype,it was based analysis of supplying seedling in the same plug while different area and randomness of seedlings for the special seedling order analysis of the integrated operation of sorting-transplanting-replanting was carried out.The randomness of the main seedling order of multi-claw transplanting and the vacancy of replanting,and the order of replanting seedlings operation and the integrated transplanting-replanting operation order were analyzed,so that the best integrated seedling order of transplanting-replanting was obtained.The coordinated control of the main operation of sorting-transplanting and the subordinate of replanting were further analyzed.The masterslave cooperative control strategy of sorting-transplanting-replanting and detail work flow of the intelligent integrated machine were obtained.(4)After completing mechanical and electrical system monitoring by no-load operation,the positioning error test of the source plug and target plug upon the conveying mechanism was carried out.And the test results showed that the positioning accuracy is high,which could fully meet the operation requirements.And the performance test of transplanting-replanting integrated operation was carried out furtherly.The results showed that the operation effect was the best when the transplanting cycle was 1000 times/h,the seedling rate reached 99.33% after replanting,and the corresponding tray-replacing transplanting efficiency was 5000 plants/h,it could fully meet the actual needs of plug-replacing operation.