| As an important equipment for increasing the yield of rice crops,the seedling raising seeder is widely used because it does not hurt the seeds and does not need to select seeds by stages.With the continuous development of agricultural automation technology in China,the level of automation of the pneumatic vibration precision seeder is also getting higher and higher.However,in the process of sowing,due to the continuous sowing,there are a small amount of impurities,too small rice grains,etc.,resulting in clogging of seed suction voids,forming a "seed stoppage" phenomenon,which causes an increase in the void rate.In response to this problem,this article designs an adaptive seed clearing system based on embedded ARM,the main research contents are as follows:(1)Demonstration and overall design of the adaptive seed cleaning device.Based on the analysis of the working principle of the air-vibrating disk type seedling planter independently developed by the research group,three kinds of cleaning programs are proposed: the cleaning needle tray,the cleaning brush and the adaptive cleaning device program,after theoretical analysis and experiment Finally,the adaptive seed cleaning device was selected as the scheme designed in this paper.The overall structure design of the adaptive seed cleaning device.The device is composed of a seeding effect detection module and an automatic seed cleaning mechanism.The seeding effect detection module transmits the hole plugging information detected by the seeding effect detection module to the automatic seed cleaning mechanism as a control basis for executing the seed cleaning action.(2)Design of seeding effect detection module.The detection module is mainly composed of an industrial camera and a main control unit.The industrial camera is installed on the bracket above the seeding position.After each seeding is completed,the seedling tray image is collected in real time and transmitted to the main control unit.After the image processing and analysis,the cavity is obtained Information with clogged holes.The number of void holes,void holes' coordinates,and cloggedholes' coordinates are stored in different arrays,and the hole-plugging coordinate arrays are transferred to the automatic seed clearing mechanism as a basis for performing seed clearing work.The software platform of this part is built under the embedded Ubuntu system,with qt as the operating environment,C++ as the compiled language,and Opencv as the image processing environment library.(3)Design of automatic seed cleaning mechanism.The automatic seed cleaning mechanism is mainly composed of a main control unit,a stepping motor and its driver,a ball screw and a seed cleaning needle.The stepping motor and its driver are combined with the ball screw to form a two-degree-of-freedom seed cleaning mechanical arm.The seed cleaning needle is composed of a needle and an electromagnet,and the needle is fixed on the top of the electromagnet by threads.The main control unit adopts genetic algorithm to plan the seed cleaning route,and sends a control signal to control the stepper motor to drive the seed cleaning needle for seed cleaning.The running mode is divided into self-starting mode and S curve acceleration and deceleration according to the distance between two clogged holes.(4)Debugging and testing of adaptive seed cleaning device.Firstly,the experiment of determining the parameters of the seedling planter was carried out,and it was determined that when the vibration frequency of the vibrating seed plate was 10 Hz and the vacuum negative pressure value was 4.5 kPa,the void rate was low.Secondly,the parameter determination test of the automatic seed cleaning device was carried out.The results show that the motor speed is 150 r / min in the self-starting mode,and the maximum motor speed is 375 r / min in the acceleration and deceleration mode.Optimal parameters.Then the accuracy verification test of the seeding detection module was carried out.The results showed that the seeding effect detection module was tested continuously in 20 trays,the accuracy rate was ?95%,the average time was 0.746 s,and it had good practicability.Finally,the performance verification test of the adaptive seed cleaning device was carried out.The results show that,after using the adaptive seed cleaning device,the average hole rate decreasedfrom 4.4% without any seed cleaning measures to the maximum hole rate of the precision planter of no more than 5.5% and continuous seeding of 50 trays 2.4%,which is more than 2% lower than the original level.The average single planting time is 8.7s,and the seeding efficiency can reach more than 410 trays / h.The self-adapting seed cleaning device has effectively cleared the clogged holes caused by card seeding,reduced the seeding cavity rate,and improved the seeding accuracy,and provided technical support for the further realization of the automation of the seeder. |
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