针对马铃薯挖掘铲工作阻力大这一难题,采用参数化特征造型软件Inven tor进行挖掘铲虚拟设计,基于土壤与铲体作用动力学分析,建立了挖掘铲牵引阻力数学模型。通过计算机辅助分析(Com puter A ided A nalysis,CAA)手段,使用V i-sual B asi...针对马铃薯挖掘铲工作阻力大这一难题,采用参数化特征造型软件Inven tor进行挖掘铲虚拟设计,基于土壤与铲体作用动力学分析,建立了挖掘铲牵引阻力数学模型。通过计算机辅助分析(Com puter A ided A nalysis,CAA)手段,使用V i-sual B asic语言编程实现了挖掘铲牵引阻力与前进速度、铲面倾角、挖掘深度、工作幅宽等主要影响因素的模拟试验,最终确定了挖掘铲设计参数,并在虚拟装配体中进行参数调整改进模型。土槽台架试验结果与计算机模拟试验结果基本吻合,验证了CAA过程和模拟试验的有效性,田间收获试验结果显示马铃薯收获质量达到了设计要求,验证了挖掘铲几何参数的合理性。研究结果为其它农机具研究设计提供了一种参考。展开更多
Harvesting of fresh-eating cherry tomato was highly costly on labor and time.In order to achieve mechanical harvesting for the fresh-eating tomato,a new harvesting robot was designed,which consisted of a stereo visual...Harvesting of fresh-eating cherry tomato was highly costly on labor and time.In order to achieve mechanical harvesting for the fresh-eating tomato,a new harvesting robot was designed,which consisted of a stereo visual unit,an end-effector,manipulator,a fruit collector,and a railed vehicle.The robot configuration and workflow design focused on the special cultivating condition.Three key parts were introduced in detail:a railroad vehicle capably moving on both ground and rail was adopted as the robot’s carrier,a visual servo unit was used to identify and locate the mature fruits bunch,and the end-effector to hold and separate the fruit bunch was designed based on the stalk’s mechanical features.The field test of the new developed robot was conducted and the results were analyzed.The successful harvest rate of the robot was 83%,however,each successful harvest averagely needed 1.4 times attempt,and a single successful harvesting cycle cost 8 s excluding the time cost on moving.展开更多
Crops are prone to lodging with the decline of stem moisture and the intervention of other factors in the mature harvest period,such as garlic,which is difficult to harvest mechanically.To solve this problem,the plant...Crops are prone to lodging with the decline of stem moisture and the intervention of other factors in the mature harvest period,such as garlic,which is difficult to harvest mechanically.To solve this problem,the plant-correcting reel for harvesting lodging garlic plants,bumped and deformed with plants many times to pull and lift them into a conveyor,is proposed in this study.We analyzed the motion trajectory equation and key influencing factors of the reel and defined the lifting and plant-correcting stages as three processes of contact,stirring and release.For example,the contact deformation model and system energy equations were established in the contact process.Besides,in the stirring process,the garlic plant-correcting conditions were established through the dynamic simulation test analysis of garlic seedling trajectories and the deflection model of garlic stem was constructed.Furthermore,in the release process,the expressions of rubber bars rotation and garlic plant offset bending curvature were constructed and the optimal number and distribution form of bars were determined.Meanwhile,the mechanism and key operating parameters of the auxiliary lifting mechanism of the divider were established.Through the single-factor test,the influence of reel speed,forward speed and reel height on the success feeding rate was analyzed under different bars distribution forms;Through multi-factor experiments,the interaction contour map of various factors was constructed.When reel speed,forward speed and reel height were 3 rad/s,3.5 m/s,and 540 mm,the feeding success rate was 98.73%.The optimization factors were tested and verified,which met the operational requirements of a high feeding success rate and low loss rate of garlic harvest.This study combines laboratory virtual as well as field experiments and analyzes of trajectory of bars,contact deformation and deflection model of garlic plant,and reel rotation and garlic plant offset bending curvature to solve the problem of garlic lodging mechanized harvest and yield reduct展开更多
文摘针对马铃薯挖掘铲工作阻力大这一难题,采用参数化特征造型软件Inven tor进行挖掘铲虚拟设计,基于土壤与铲体作用动力学分析,建立了挖掘铲牵引阻力数学模型。通过计算机辅助分析(Com puter A ided A nalysis,CAA)手段,使用V i-sual B asic语言编程实现了挖掘铲牵引阻力与前进速度、铲面倾角、挖掘深度、工作幅宽等主要影响因素的模拟试验,最终确定了挖掘铲设计参数,并在虚拟装配体中进行参数调整改进模型。土槽台架试验结果与计算机模拟试验结果基本吻合,验证了CAA过程和模拟试验的有效性,田间收获试验结果显示马铃薯收获质量达到了设计要求,验证了挖掘铲几何参数的合理性。研究结果为其它农机具研究设计提供了一种参考。
基金We acknowledge that this work was financially supported by the National Natural Science Foundation of China(61703048)Beijing Excellent Talent Training to Support Young Key Individual Projects(2015000020060G134)BAAFS Youth Research Fund(QNJJ201722).
文摘Harvesting of fresh-eating cherry tomato was highly costly on labor and time.In order to achieve mechanical harvesting for the fresh-eating tomato,a new harvesting robot was designed,which consisted of a stereo visual unit,an end-effector,manipulator,a fruit collector,and a railed vehicle.The robot configuration and workflow design focused on the special cultivating condition.Three key parts were introduced in detail:a railroad vehicle capably moving on both ground and rail was adopted as the robot’s carrier,a visual servo unit was used to identify and locate the mature fruits bunch,and the end-effector to hold and separate the fruit bunch was designed based on the stalk’s mechanical features.The field test of the new developed robot was conducted and the results were analyzed.The successful harvest rate of the robot was 83%,however,each successful harvest averagely needed 1.4 times attempt,and a single successful harvesting cycle cost 8 s excluding the time cost on moving.
基金China Agriculture Research System of MOF and MARA(CARS-24-D-01)National Key R&D Program of China(Grant No.2023YFD2001200)Shandong Province focuses on supporting the introduction of urgently needed and scarce talent projects in the region.
文摘Crops are prone to lodging with the decline of stem moisture and the intervention of other factors in the mature harvest period,such as garlic,which is difficult to harvest mechanically.To solve this problem,the plant-correcting reel for harvesting lodging garlic plants,bumped and deformed with plants many times to pull and lift them into a conveyor,is proposed in this study.We analyzed the motion trajectory equation and key influencing factors of the reel and defined the lifting and plant-correcting stages as three processes of contact,stirring and release.For example,the contact deformation model and system energy equations were established in the contact process.Besides,in the stirring process,the garlic plant-correcting conditions were established through the dynamic simulation test analysis of garlic seedling trajectories and the deflection model of garlic stem was constructed.Furthermore,in the release process,the expressions of rubber bars rotation and garlic plant offset bending curvature were constructed and the optimal number and distribution form of bars were determined.Meanwhile,the mechanism and key operating parameters of the auxiliary lifting mechanism of the divider were established.Through the single-factor test,the influence of reel speed,forward speed and reel height on the success feeding rate was analyzed under different bars distribution forms;Through multi-factor experiments,the interaction contour map of various factors was constructed.When reel speed,forward speed and reel height were 3 rad/s,3.5 m/s,and 540 mm,the feeding success rate was 98.73%.The optimization factors were tested and verified,which met the operational requirements of a high feeding success rate and low loss rate of garlic harvest.This study combines laboratory virtual as well as field experiments and analyzes of trajectory of bars,contact deformation and deflection model of garlic plant,and reel rotation and garlic plant offset bending curvature to solve the problem of garlic lodging mechanized harvest and yield reduct
