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芦蒿有序收获机往复切割力影响因素试验与分析 被引量:7
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作者 施印炎 汪小旵 +3 位作者 章永年 morice o.odhiambo 丁为民 曹明珠 《中国农机化学报》 北大核心 2018年第12期46-53,共8页
为改善芦蒿收获过程中茎秆割茬质量,提高切割性能,降低损失率,完善芦蒿有序收获机收获效果。自制切割试验台,在TMS-Pro质构仪上对芦蒿嫩茎进行单因素和多因素正交切割试验,研究切割方式、切割刀片形式、切割倾角、切割速度、切割间隙、... 为改善芦蒿收获过程中茎秆割茬质量,提高切割性能,降低损失率,完善芦蒿有序收获机收获效果。自制切割试验台,在TMS-Pro质构仪上对芦蒿嫩茎进行单因素和多因素正交切割试验,研究切割方式、切割刀片形式、切割倾角、切割速度、切割间隙、切割位置、株数等因素对芦蒿峰值切割力指标的影响。单因素试验结果表明:以锯齿形割刀滑切方式最为省力;峰值切割力与切割速度呈显著二次多项式函数负相关关系;随着切割角度、切割间隙的增大而增大,在12°切割角以及0.5mm切割间隙时,切割力均出现最小值;与离地切割位置呈显著指数函数负相关关系,与株数呈显著指数函数正相关关系。多因素试验结果表明:切割速度对峰值切割力影响最为显著,切割角度次之,切割间隙影响最小,当切割速度200mm/min、切割角度15°、切割间隙0.5mm时为最优方案,峰值切割力最小。通过应变片进行田间试验对比,结果表明:割台试验结果与田间试验结果一致,试验数据误差<5.6%。研究结果为切割器的参数优化及芦蒿收获机械装备的研制与改进提供理论依据与技术支持。 展开更多
关键词 芦蒿 切割力 试验 影响因素
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施药机器人对行施药系统的设计与试验 被引量:8
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作者 白如月 汪小旵 +2 位作者 鲁伟 李成光 morice o.odhiambo 《华南农业大学学报》 CAS CSCD 北大核心 2018年第5期101-109,共9页
【目的】设计一种能在作物行间自主导航的施药机器人,实现移动机器人在温室中自动行走并均匀施药。【方法】针对导航路径识别受光线变化影响较大的问题,在Kinect摄像机获取的彩色图像中选取了HIS空间,并对K-means算法的聚类中心和聚类... 【目的】设计一种能在作物行间自主导航的施药机器人,实现移动机器人在温室中自动行走并均匀施药。【方法】针对导航路径识别受光线变化影响较大的问题,在Kinect摄像机获取的彩色图像中选取了HIS空间,并对K-means算法的聚类中心和聚类数目的选取进行了优化,随后采用改进的K-means算法对与光照信息无关的H、S分量联合分割,获得完整道路信息,并采用Candy算子检测边缘及改进的Hough变化方法拟合导航路径。采用模糊控制方法通过实时调整转角和转向,对车体行走偏移进行矫正。同时,为满足不同农作物的施药需求,在喷药系统上选用了自整定模糊PID控制算法。【结果】该系统可有效适应不同光照条件,提取作物行中心线平均耗时12.36 ms,导航偏差不超过5 cm,植株叶片正面的上、中、下层覆盖率分别为63.26%、50.89%和75.82%,单位面积(1 cm^2)雾滴数平均为55、42和78个。【结论】本系统可以满足温室移动机器人自主施药防治病虫害的需求。 展开更多
关键词 农业机器人 温室 精准施药 自主导航 K-MEANS算法 颜色空间 沉积分布
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水稻灭茬机扶茬机构设计与试验 被引量:4
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作者 赵博 汪小旵 +1 位作者 杨四军 morice o.odhiambo 《华南农业大学学报》 CAS CSCD 北大核心 2018年第4期100-104,共5页
【目的】解决水稻灭茬机作业时,驱动轮容易将高留茬压倒,引起轮辙处倒茬多,导致水稻秸秆粉碎效果不理想的问题。【方法】研发了一种具有扶禾功能的水稻灭茬机,利用固接于扶茬轮轴上的"L"型扶指,采用扶茬轮轴和粉碎轮轴双侧带... 【目的】解决水稻灭茬机作业时,驱动轮容易将高留茬压倒,引起轮辙处倒茬多,导致水稻秸秆粉碎效果不理想的问题。【方法】研发了一种具有扶禾功能的水稻灭茬机,利用固接于扶茬轮轴上的"L"型扶指,采用扶茬轮轴和粉碎轮轴双侧带轮分流传动方式,实现前置扶茬系统与后置粉碎系统配合作业,使水稻秸秆倒伏的留茬被扶起后立即喂入粉碎室。采用正交设计试验验证灭茬机的田间性能。【结果】水稻灭茬机的前进速度、扶辊转速和扶指宽度均对水稻秸秆粉碎率有显著影响。田间试验的结果表明,机具工作参数的最佳组合为前进速度5.38 km·h^(–1)、扶辊转速160 r·min^(–1)和扶指宽度50 mm,该组合的水稻秸秆粉碎效果最好,粉碎率达到92.52%。【结论】该扶茬机结构简单,对水稻秸秆的扶茬粉碎效果好,在实际生产中能够提升高留茬稻秆的粉碎效率。 展开更多
关键词 水稻秸秆 灭茬机 结构设计 倒伏 粉碎
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茎叶类蔬菜有序收获机柔性夹持输送机构设计 被引量:33
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作者 章永年 施印炎 +2 位作者 汪小旵 morice o.odhiambo 孙国祥 《中国农机化学报》 2016年第9期48-51,共4页
针对目前叶菜收获铺放难、成本高、效率低、劳动强度大的实际问题,研制一种茎叶类蔬菜有序收获机具。根据机具性能要求和作物的生长环境特征,阐述有序收获机的整机结构和工作原理,设计并确定关键部件结构及尺寸参数,建立作物输送时的力... 针对目前叶菜收获铺放难、成本高、效率低、劳动强度大的实际问题,研制一种茎叶类蔬菜有序收获机具。根据机具性能要求和作物的生长环境特征,阐述有序收获机的整机结构和工作原理,设计并确定关键部件结构及尺寸参数,建立作物输送时的力学模型,获得夹持输送机构对茎秆的夹持力。所设计的柔性夹持输送机构倾斜角为20°~30°,输送带宽度为65mm,长度为2 456mm,工作幅宽为1 000mm,割茬高度10~200mm可调,生产效率为0.2~0.5hm2/h。结果表明,所研制的茎叶类蔬菜有序收获机结构合理、轻简新颖,能满足茎叶类蔬菜有序收获的要求,提高了生产效率。该研究对蔬菜有序输送、减少蔬菜输送损失、降低伤苗率、提高收获机整机性能具有重要意义。 展开更多
关键词 茎叶类蔬菜 有序收获 柔性夹持
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基于Hilbert变换的害虫自动计数和发布系统的设计
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作者 胡古月 汪小旵 +2 位作者 鲁伟 李雪 morice o.odhiambo 《湖南农业大学学报(自然科学版)》 CAS CSCD 北大核心 2017年第1期103-107,共5页
基于希尔伯特变换(Hilbert),设计了害虫自动计数和远程发布预警系统。系统主要由杀虫灯、采集卡、变压器、PC机、可编程逻辑控制器(PLC)、路由器等硬件设备组成,运行时,杀虫灯高压网端的电压信号经变压器降压,采集卡采集降压后的杀虫网... 基于希尔伯特变换(Hilbert),设计了害虫自动计数和远程发布预警系统。系统主要由杀虫灯、采集卡、变压器、PC机、可编程逻辑控制器(PLC)、路由器等硬件设备组成,运行时,杀虫灯高压网端的电压信号经变压器降压,采集卡采集降压后的杀虫网电压,采集卡通过USB口与PC机相连,PLC通过串口与PC机相连。用Lab VIEW软件作为平台,对采集到的信号进行Hilbert变换,得到信号的瞬时幅值,当瞬时幅值小于设定值时,通过串口给PLC发送Modbus指令,PLC接收到指令后对相应寄存器进行计数。利用PLC和My SCADA组态软件对PLC寄存器数据进行远程发布,手机端、远程桌面端都可监测现场害虫计数值。对采集到的714只害虫触网扰动信号进行分析,从中任意选4组共7个扰动信号进行演示,结果系统能准确识别7个扰动区,并通过手机端和远程桌面端显示。 展开更多
关键词 害虫自动计数 数据采集 希尔伯特变换 串口通信 远程发布
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基于Pro/E的茎叶类蔬菜有序收获机设计 被引量:15
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作者 施印炎 章永年 +2 位作者 汪小旵 morice o.odhiambo 孙国祥 《农机化研究》 北大核心 2017年第3期139-143,共5页
针对目前茎叶类蔬菜收获铺放难、强度大的实际问题,研制了一种茎叶类蔬菜有序收获机,实现了茎叶类蔬菜收获的有序切割、有序输送及有序收集。为此,论述了收获机的基本结构和工作原理,分析确定了切割装置、输送装置、收集装置等关键部件... 针对目前茎叶类蔬菜收获铺放难、强度大的实际问题,研制了一种茎叶类蔬菜有序收获机,实现了茎叶类蔬菜收获的有序切割、有序输送及有序收集。为此,论述了收获机的基本结构和工作原理,分析确定了切割装置、输送装置、收集装置等关键部件的主要结构及关键参数;应用Pro/E的参数化设计功能建立收获机各零部件三维实体模型,通过约束装配完成虚拟样机设计,进行模型仿真验证。验证结果表明:所研制的茎叶类蔬菜有序收获机结构合理、轻简、新颖,各零部件之间不存在干涉现象,能满足茎叶类蔬菜有序收获的要求,提高了生产效率,为茎叶类蔬菜有序收获要求提供了一种解决思路。 展开更多
关键词 有序收获 模型仿真 茎叶类蔬菜 有序收获机
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Fertilization strategy and application model using a centrifugal variable-rate fertilizer spreader 被引量:6
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作者 Yinyan Shi Zhichao Hu +2 位作者 Xiaochan Wang morice o.odhiambo Guoxiang Sun 《International Journal of Agricultural and Biological Engineering》 SCIE EI CAS 2018年第6期41-48,共8页
With the sustainable development of precision agriculture and the steady progress of variable-rate fertilization technology,the centrifugal variable-rate fertilizer spreader has attracted research attention due to its... With the sustainable development of precision agriculture and the steady progress of variable-rate fertilization technology,the centrifugal variable-rate fertilizer spreader has attracted research attention due to its lower incidence of crush damage,high efficiency,and low cost.To improve fertilization accuracy and uniformity,spreading performance tests were conducted using this spreader in accordance with the test methods specified in ISO 5690 and ASAE S341.2,in which particle mass was weighed in a two-dimensional matrix of collection boxes.The effects of fertilization strategies that control the feed gate flow rate and the disc rotation speed on particle distribution,and application rate per unit area and effective swath width,were investigated.A variable-rate fertilization model was developed by analyzing the variation characteristics resulting from an increasing and decreasing application rate,and field experiments were conducted to verify its accuracy.The results indicated that when the feed gate flow rate was 300 g/s,the mean application rate was 26.47 g,the standard deviation is 2.81,and the coefficient of variation of particle distribution is at its minimum value of 14.25%.When the disc rotation speed was 600 r/min,the fertilizer was most evenly distributed with a coefficient of variation of 13.86%,and an average effective spreader swath width of 24.51 m.The proposed variable-rate fertilization model showed a high fitting degree with an S-shaped function curve for both increasing and decreasing distribution rates and the yielding coefficients of determination were more than 0.82 and 0.71,respectively.The average error between the model predictions and the test results was 9.47%,and the coefficients of determination for the increasing and decreasing distribution rates were 0.91 and 0.82,respectively,which confirmed the accuracy of the proposed variable-rate fertilization model.This investigation provided a theoretical basis for traditional empirical fertilization using centrifugal variable-rate fertilizer spreaders,and guides the selection of a multiple trajectory,variable-rate fertilization strategy. 展开更多
关键词 variable-rate fertilization centrifugal spreader fertilization strategy application model
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Experiment and analysis on mechanical properties of Artemisia selengensis stalk 被引量:2
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作者 Shi Yinyan Chen Man +2 位作者 Wang Xiaochan Zhang Yongnian morice o.odhiambo 《International Journal of Agricultural and Biological Engineering》 SCIE EI CAS 2017年第2期16-25,共10页
The technology used for the storage and transportation of Artemisia selengensis is becoming increasingly important with its increasing consumption and demand;moreover,the amounts of artificial planting contribute to t... The technology used for the storage and transportation of Artemisia selengensis is becoming increasingly important with its increasing consumption and demand;moreover,the amounts of artificial planting contribute to the challenges in Artemisia selengensis harvesting.Therefore,the mechanical property parameters of the Artemisia selengensis stalks were determined and researched to reduce the mechanical damage during harvesting,transportation,processing and storage.The Artemisia selengensis stalks were taken as the test object and a physical test method was adopted to study the impact of different positions,diameters,and directions on the mechanical properties by using the TMS-Pro texture analyzer;then,the relevant changing trends of the characteristic mechanical parameters were analyzed using statistical software.In the compression test,the compression load-deformation curve was observed and the breaking force and deformation were obtained;then,the compressive strength,elastic modulus and compression energy were computed.Next,the curve-fitting of the compressive strength and compression energy was carried out.In the shear test,the shear stress-deformation curve was obtained and the shear force,deformation,shear strength,and shear work were calculated.Then,the regression fitting of the section area,peak shearing stress and shearing work was conducted.Finally,in the last bending test,the bending stress-deformation curve,bending peak force,deformation,and bending work were obtained.Then the bending forces of other plants were tested,the results were compared and analyzed with the theoretical values,and finally the regression fittings were implemented.All the analysis results showed that Artemisia selengensis stalks can be considered to be anisotropic materials.The results also showed that the compressive strength and elastic modulus decreased with the height of stalk position,while the deformation increased.In addition,with the increase in the stalk diameter,the bending strength and fracture mechanical work increased,while the deformation decreased.The research results can provide a theoretical basis and reference for the design of the harvest equipment of Artemisia selengensis while minimizing its mechanical damage. 展开更多
关键词 Artemisia selengensis stalks texture analyzer mechanical properties
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