基于可视化的果树移栽机作业特性研究

Research on Operation Characteristics of Fruit Tree Transplanting Machine Based on Visualization

针对我国自动果树移栽机移栽准确率和效率较低的问题,基于可视化技术对果树移栽机的作业特性进行研究。果树移栽机的主要组成包括控制系统、机器视觉和传感器系统、旋耕装置、开沟部件、覆土装置、移栽装置和传输系统。为了实现果树移栽机的自动化运行,保证移栽质量,针对移栽机械手的结构进行了优化,使其能够适应不同的幼苗,并对其作业特性进行研究。同时,对移栽作业的图像处理过程进行了优化,使其能够有效识别坏苗并剔除。为了验证该果树移栽机的性能,进行了坏苗识别试验和树苗移栽试验,结果表明:果树移栽机可以有效识别坏苗,并高质量地完成树苗移栽。

Aiming at the problem of low transplanting accuracy and transplanting efficiency of automatic fruit tree transplanting machine in China,the operation characteristics of fruit tree transplanting machine based on visualization technology was studied.The fruit tree transplanting machine was constituted of control system,machine vision and sensor system,rotary tillage device,ditching component,soil covering device,transplanting device and transmission system.To realize the automatic operation of fruit tree transplanting machine and ensure the quality of transplanting,the structure of transplanting manipulator was optimized,so that it could adapt to different seedings,and its operation characteristics was also studied.At the same time,the image processing process of transplanting was designed so that it could identify and eliminate the bad seedlings effectively.To verify the performance of the fruit tree transplanting machine,the identification test of bad seedlings and seedling transplanting test were done.The test result show that the fruit tree transplanting machine could effectively identify bad seedlings,and complete the high quality of seedlings transplanting.