穴盘苗自动移栽机苗钵夹持力检测系统设计与试验
|
摘要
针对夹持力可调式穴盘苗自动移栽机取苗爪安装空间狭小、检测装备布置不当易伤苗或回带钵苗基质等问题,基于聚偏氟二乙烯(Polyvinylidene fluoride,PVDF)压电薄膜与软硬件融合信号调理技术,提出了一种穴盘苗自动移栽机苗钵夹持力检测系统,该系统由PVDF压电薄膜、信号调理电路、无线通信模块、信号采集软件系统组成。通过PVDF压电薄膜实时监测取苗爪对苗钵夹持力的变化情况,利用压电效应将夹持力转换为电荷量;通过信号调理电路,完成电荷-电压信号转换、信号放大、工频信号消除,以及削弱地面激励与自动移栽机工作产生的振动噪声;通过无线通信模块将硬件调理后的夹持力信号发送至基于Lab VIEW的信号采集软件系统,并采用卡尔曼滤波器滤除残余的振动噪声,最终实现苗钵夹持力的精确测量、显示、存储、报警等功能,达到减少苗钵损伤率、提高移栽成功率的目的。标定试验结果表明,夹持力检测传感器的平均线性决定系数为0. 991 4,平均灵敏度为1. 002 7,精度为6. 024%,满足移栽作业过程中夹持力测量准确性的要求;室内试验结果表明,苗钵夹持力检测系统具有较好的稳定性和一致性,适用于自动移栽取、投苗过程中苗钵夹持力的精准监测。
The damage degree of pot seedling in the process of automatic transplanting in dry farming has a direct impact on the survival rate of pot seedling in the later stage. Moreover,the clamping force of pot seedling plays key role in evaluating the damage degree. Aiming at the problems of narrow installation space,improper arrangement of testing equipment to damage seedling or bring back seedling matrix in the automatic transplanter with adjustable clamping force,a clamping force detection system of pot seedling was developed based on piezoelectric film( Polyvinylidene fluoride,PVDF) and signal conditioning technology. The system consisted of PVDF piezoelectric film,special signal conditioning circuit,wireless communication module and signal acquisition software system. The working procedure of the system can be divided into the following steps. Firstly,PVDF piezoelectric film monitored the change of clamping force of seedling claw on pot seedling in real time,and the clamping force was converted into electric charge by piezoelectric effect. Secondly,via the special signal conditioning circuit,the system can implement charge-voltage signal conversion,signal amplification,signal elimination of power frequency,and weaken the vibration and noise generated by ground excitation and transplanter operation. Thirdly,the processed clamping force signal was sent to the signal acquisition software system based on LabVIEW by wireless communication module,and the residual vibration noise was filtered through Kalman filter.The whole system can effectively realize the measurement,indication,storage and warning the clamping force of pot seedling,and assist to reduce the damage rate of pot seedling and improve the success rate of transplantation. In addition,the calibration experiments and laboratory validation experiments were performed to verify the precision and reliability of the system respectively. The calibration experiments demonstrated that the average linear determination coefficient of the clamping force detection sensor was0. 991 4,the average sensitivity was 1. 002 7,and the accuracy was 6. 024%. The laboratory validation experiments indicated that the mean and maximum fluctuation ranges of the clamping force measurement values were small,and the standard deviation of the clamping force measurement values of each group were lower than 0. 076 N,and the output voltage value of the clamping force detection sensor was basically consistent with the variation law of the clamping force during the actual transplanting process. In conclusion,the overall results showed that the developed system had the advantages of high measurement accuracy,low cost and fast response,and can provide a useful reference for clamping force detection of pot seedling in automatic transplanter.
The damage degree of pot seedling in the process of automatic transplanting in dry farming has a direct impact on the survival rate of pot seedling in the later stage. Moreover,the clamping force of pot seedling plays key role in evaluating the damage degree. Aiming at the problems of narrow installation space,improper arrangement of testing equipment to damage seedling or bring back seedling matrix in the automatic transplanter with adjustable clamping force,a clamping force detection system of pot seedling was developed based on piezoelectric film( Polyvinylidene fluoride,PVDF) and signal conditioning technology. The system consisted of PVDF piezoelectric film,special signal conditioning circuit,wireless communication module and signal acquisition software system. The working procedure of the system can be divided into the following steps. Firstly,PVDF piezoelectric film monitored the change of clamping force of seedling claw on pot seedling in real time,and the clamping force was converted into electric charge by piezoelectric effect. Secondly,via the special signal conditioning circuit,the system can implement charge-voltage signal conversion,signal amplification,signal elimination of power frequency,and weaken the vibration and noise generated by ground excitation and transplanter operation. Thirdly,the processed clamping force signal was sent to the signal acquisition software system based on LabVIEW by wireless communication module,and the residual vibration noise was filtered through Kalman filter.The whole system can effectively realize the measurement,indication,storage and warning the clamping force of pot seedling,and assist to reduce the damage rate of pot seedling and improve the success rate of transplantation. In addition,the calibration experiments and laboratory validation experiments were performed to verify the precision and reliability of the system respectively. The calibration experiments demonstrated that the average linear determination coefficient of the clamping force detection sensor was0. 991 4,the average sensitivity was 1. 002 7,and the accuracy was 6. 024%. The laboratory validation experiments indicated that the mean and maximum fluctuation ranges of the clamping force measurement values were small,and the standard deviation of the clamping force measurement values of each group were lower than 0. 076 N,and the output voltage value of the clamping force detection sensor was basically consistent with the variation law of the clamping force during the actual transplanting process. In conclusion,the overall results showed that the developed system had the advantages of high measurement accuracy,low cost and fast response,and can provide a useful reference for clamping force detection of pot seedling in automatic transplanter.
引文
[1]胡建平,张晨迪,王留柱,等.全自动温室钵苗移栽机设计与试验[J/OL].农业机械学报,2016,47(增刊):149-154.HU Jianping,ZHANG Chendi,WANG Liuzhu,et al.Design and experiment on automatic greenhouse seedling transplanting machine[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2016,47(Supp.):149-154.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=2016s023&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2016.S0.023.(in Chinese)
[2]赵匀,刘星,薛向磊,等.茄子钵苗全自动移栽机构优化设计与试验[J/OL].农业机械学报,2018,49(5):152-160.ZHAO Yun,LIU Xing,XUE Xianglei,et al.Optimal design and experiment of fully-automated potted eggplant seedling transplanting mechanism[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2018,49(5):152-160.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20180517&journalid=jcsam.DOI:10.6041/j.issn.1000-1298.2018.05.017.(in Chinese)
[3]金鑫,杜新武,杨传华,等.蔬菜移栽穴盘苗自动输送装置设计与试验[J/OL].农业机械学报,2016,47(7):103-111.JIN Xin,DU Xinwu,YANG Chuanhua,et al.Design and experiment on automatic transporting mechanism for vegetable potted seedlings[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2016,47(7):103-111.http:∥www.jcsam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20160715&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2016.07.015.(in Chinese)
[4]刘姣娣,曹卫彬,田东洋,等.基于苗钵力学特性的自动移栽机执行机构参数优化试验[J].农业工程学报,2016,32(16):32-39.LIU Jiaodi,CAO Weibin,TIAN Dongyang,et al.Optimization experiment of transplanting actuator parameters based on mechanical property of seedling pot[J].Transactions of the CSAE,2016,32(16):32-39.(in Chinese)
[5]徐高伟,刘宏新,荐世春,等.基于五杆机构的丹参膜上移栽机构设计与试验[J/OL].农业机械学报,2018,49(9):55-65.XU Gaowei,LIU Hongxin,JIAN Shichun,et al.Design and test of transplanting mechanism on mulch-film of Salvia miltiorrhiza based on five-bar mechanism[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2018,49(9):55-65.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20180906&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2018.09.006.(in Chinese)
[6]JIN Xin,LI Daoyi,MA Hao,et al.Development of single row automatic transplanting device for potted vegetable seedlings[J].International Journal of Agricultural and Biological Engineering,2018,11(3):67-75.
[7]吴永宏,李群明.机械手夹持接触力及力封闭分析[J].中南大学学报(自然科学版),2009,40(6):1580-1586.WU Yonghong,LI Qunming.Analysis of gripping contact force and force-closure of manipulator[J].Journal of Central South University(Science and Technology),2009,40(6):1580-1586.(in Chinese)
[8]张丽华,邱立春,田素博,等.指针夹紧式穴盘苗移栽爪设计[J].沈阳农业大学学报,2010,41(2):235-237.ZHANG Lihua,QIU Lichun,TIAN Subo,et al.Design of a needle clamping claw for plug seedling transplanting[J].Journal of Shenyang Agricultural University,2010,41(2):235-237.(in Chinese)
[9]赵匀,樊福雷,宋志超,等.反转式共轭凸轮蔬菜钵苗移栽机构的设计与仿真[J].农业工程学报,2014,30(14):8-16.ZHAO Yun,FAN Fulei,SONG Zhichao,et al.Design and simulation of inverted vegetable pot seedling transplanting mechanism with conjugate cam[J].Transactions of the CSAE,2014,30(14):8-16.(in Chinese)
[10]TING K C,GIACOMELLI G A,SHEN S J,et al.Robot workcell for transplanting of seedlings.PartⅡ-end-effector development[J].Transactions of the ASAE,1990,33(3):1013-1017.
[11]缪小花,毛罕平,韩绿化,等.黄瓜穴盘苗拉拔力及钵体抗压性能影响因素分析[J/OL].农业机械学报,2013,44(增刊1):27-32.MIAO Xiaohua,MAO Hanping,HAN Lühua,et al.Analysis of influencing factors on force of picking plug seedlings and pressure resistance of plug seedlings[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2013,44(Supp.1):27-32.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=2013s106&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2013.S1.006.(in Chinese)
[12]王英,陈建能,吴加伟,等.用于机械化栽植的西兰花钵苗力学特性试验[J].农业工程学报,2014,30(24):1-10.WANG Ying,CHEN Jianneng,WU Jiawei,et al.Mechanics property experiment of broccoli seedling oriented to mechanized planting[J].Transactions of the CSAE,2014,30(24):1-10.(in Chinese)
[13]PETCHARTEE S,MONKMAN G.Slip prediction through tactile sensing[J].Sensor and Transducers Journal,2008,90:310-324.
[14]余斌.基于视觉和触觉传感的抓取技术研究[D].哈尔滨:哈尔滨工业大学,2011.YU Bin.Research of grasp technique based on visual and tactile sensing[D].Harbin:Harbin Institute of Technology,2011.(in Chinese)
[15]徐菲,葛运建,双丰,等.基于新型导电橡胶的三维力柔性阵列触觉传感器研究[J].仪器仪表学报,2011,32(6):1350-1356.XU Fei,GE Yunjian,SHUANG Feng,et al.Research of a three-dimensional force flexible tactile sensor based on novel conductive rubber[J].Chinese Journal of Scientific Instrument,2011,32(6):1350-1356.(in Chinese)
[16]周俊,朱树平.农业机器人果蔬抓取中滑觉检测研究[J/OL].农业机械学报,2013,44(2):171-176.ZHOU Jun,ZHU Shuping.Slippage detection in gripping fruits and vegetables for agricultural robot[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2013,44(2):171-176.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20130232&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2013.02.032.(in Chinese)
[17]COTTON D P J,CHAPPELL P H,CRANNY A,et al.A novel thick-film piezoelectric slip sensor for a prosthetic hand[J].IEEE Sensors Journal,2007,7(5):752-761.
[18]陶镛汀,周俊,孟一猛,等.果蔬表面粗糙度特性检测触觉传感器设计与试验[J/OL].农业机械学报,2015,46(11):16-21.TAO Yongting,ZHOU Jun,MENG Yimeng,et al.Design and experiment of tactile sensors for testing surface roughness of fruits and vegetable[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2015,46(11):16-21.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20151103&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2015.11.003.(in Chinese)
[19]FOURMANN J,COUSTOU A,AUBERT H,et al.Wireless pressure measurement in air blast using PVDF sensors[C]∥Sensors,IEEE,2017:1-3.
[20]YOUSSEF A,MATTHEWS D,GUZZOMI A,et al.Measurement of pressure fluctuations inside a model thrust bearing using PVDF sensors[J].Sensors,2017,17(4):878-889.
[21]贺伟,雷挺.压电薄膜新型测力传感器及其调理电路的研究[J].压电与声光,2014,36(3):369-372.HE Wei,LEI Ting.Research of a new piezoelectric thin film force transducer and its control circuit[J].Piezoelectrics&Acoustooptics,2014,36(3):369-372.(in Chinese)
[22]SHIRINOV A V,SCHOMBURG W K.Pressure sensor from a PVDF film[J].Sensors&Actuators a Physical,2008,142(1):48-55.
[23]潘奇,万舟,易士琳.基于PVDF的三维力机器人触觉传感器的设计[J].传感技术学报,2015,28(5):648-653.PAN Qi,WAN Zhou,YI Shilin.Design of three-dimensional force tactile sensor for robot based on PVDF[J].Chinese Journal of Sensors and Actuators,2015,28(5):648-653.(in Chinese)
[24]ODRY,FULLER R,RUDAS I J,et al.Kalman filter for mobile-robot attitude estimation:novel optimized and adaptive solutions[J].Mechanical Systems&Signal Processing,2018,110(C):569-589.
[25]MARELLI D,ZAMANI M,FU M,et al.Distributed Kalman filter in a network of linear systems[J].Systems&Control Letters,2018,116:71-77.
[26]蒋焕煜,周鸣川,童俊华,等.基于卡尔曼滤波的PWM变量喷雾控制研究[J/OL].农业机械学报,2014,45(10):60-65.JIANG Huanyu,ZHOU Mingchuan,TONG Junhua,et al.PWM variable spray control based on Kalman filter[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2014,45(10):60-65.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20141010&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2014.10.010.(in Chinese)
[2]赵匀,刘星,薛向磊,等.茄子钵苗全自动移栽机构优化设计与试验[J/OL].农业机械学报,2018,49(5):152-160.ZHAO Yun,LIU Xing,XUE Xianglei,et al.Optimal design and experiment of fully-automated potted eggplant seedling transplanting mechanism[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2018,49(5):152-160.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20180517&journalid=jcsam.DOI:10.6041/j.issn.1000-1298.2018.05.017.(in Chinese)
[3]金鑫,杜新武,杨传华,等.蔬菜移栽穴盘苗自动输送装置设计与试验[J/OL].农业机械学报,2016,47(7):103-111.JIN Xin,DU Xinwu,YANG Chuanhua,et al.Design and experiment on automatic transporting mechanism for vegetable potted seedlings[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2016,47(7):103-111.http:∥www.jcsam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20160715&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2016.07.015.(in Chinese)
[4]刘姣娣,曹卫彬,田东洋,等.基于苗钵力学特性的自动移栽机执行机构参数优化试验[J].农业工程学报,2016,32(16):32-39.LIU Jiaodi,CAO Weibin,TIAN Dongyang,et al.Optimization experiment of transplanting actuator parameters based on mechanical property of seedling pot[J].Transactions of the CSAE,2016,32(16):32-39.(in Chinese)
[5]徐高伟,刘宏新,荐世春,等.基于五杆机构的丹参膜上移栽机构设计与试验[J/OL].农业机械学报,2018,49(9):55-65.XU Gaowei,LIU Hongxin,JIAN Shichun,et al.Design and test of transplanting mechanism on mulch-film of Salvia miltiorrhiza based on five-bar mechanism[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2018,49(9):55-65.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20180906&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2018.09.006.(in Chinese)
[6]JIN Xin,LI Daoyi,MA Hao,et al.Development of single row automatic transplanting device for potted vegetable seedlings[J].International Journal of Agricultural and Biological Engineering,2018,11(3):67-75.
[7]吴永宏,李群明.机械手夹持接触力及力封闭分析[J].中南大学学报(自然科学版),2009,40(6):1580-1586.WU Yonghong,LI Qunming.Analysis of gripping contact force and force-closure of manipulator[J].Journal of Central South University(Science and Technology),2009,40(6):1580-1586.(in Chinese)
[8]张丽华,邱立春,田素博,等.指针夹紧式穴盘苗移栽爪设计[J].沈阳农业大学学报,2010,41(2):235-237.ZHANG Lihua,QIU Lichun,TIAN Subo,et al.Design of a needle clamping claw for plug seedling transplanting[J].Journal of Shenyang Agricultural University,2010,41(2):235-237.(in Chinese)
[9]赵匀,樊福雷,宋志超,等.反转式共轭凸轮蔬菜钵苗移栽机构的设计与仿真[J].农业工程学报,2014,30(14):8-16.ZHAO Yun,FAN Fulei,SONG Zhichao,et al.Design and simulation of inverted vegetable pot seedling transplanting mechanism with conjugate cam[J].Transactions of the CSAE,2014,30(14):8-16.(in Chinese)
[10]TING K C,GIACOMELLI G A,SHEN S J,et al.Robot workcell for transplanting of seedlings.PartⅡ-end-effector development[J].Transactions of the ASAE,1990,33(3):1013-1017.
[11]缪小花,毛罕平,韩绿化,等.黄瓜穴盘苗拉拔力及钵体抗压性能影响因素分析[J/OL].农业机械学报,2013,44(增刊1):27-32.MIAO Xiaohua,MAO Hanping,HAN Lühua,et al.Analysis of influencing factors on force of picking plug seedlings and pressure resistance of plug seedlings[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2013,44(Supp.1):27-32.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=2013s106&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2013.S1.006.(in Chinese)
[12]王英,陈建能,吴加伟,等.用于机械化栽植的西兰花钵苗力学特性试验[J].农业工程学报,2014,30(24):1-10.WANG Ying,CHEN Jianneng,WU Jiawei,et al.Mechanics property experiment of broccoli seedling oriented to mechanized planting[J].Transactions of the CSAE,2014,30(24):1-10.(in Chinese)
[13]PETCHARTEE S,MONKMAN G.Slip prediction through tactile sensing[J].Sensor and Transducers Journal,2008,90:310-324.
[14]余斌.基于视觉和触觉传感的抓取技术研究[D].哈尔滨:哈尔滨工业大学,2011.YU Bin.Research of grasp technique based on visual and tactile sensing[D].Harbin:Harbin Institute of Technology,2011.(in Chinese)
[15]徐菲,葛运建,双丰,等.基于新型导电橡胶的三维力柔性阵列触觉传感器研究[J].仪器仪表学报,2011,32(6):1350-1356.XU Fei,GE Yunjian,SHUANG Feng,et al.Research of a three-dimensional force flexible tactile sensor based on novel conductive rubber[J].Chinese Journal of Scientific Instrument,2011,32(6):1350-1356.(in Chinese)
[16]周俊,朱树平.农业机器人果蔬抓取中滑觉检测研究[J/OL].农业机械学报,2013,44(2):171-176.ZHOU Jun,ZHU Shuping.Slippage detection in gripping fruits and vegetables for agricultural robot[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2013,44(2):171-176.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20130232&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2013.02.032.(in Chinese)
[17]COTTON D P J,CHAPPELL P H,CRANNY A,et al.A novel thick-film piezoelectric slip sensor for a prosthetic hand[J].IEEE Sensors Journal,2007,7(5):752-761.
[18]陶镛汀,周俊,孟一猛,等.果蔬表面粗糙度特性检测触觉传感器设计与试验[J/OL].农业机械学报,2015,46(11):16-21.TAO Yongting,ZHOU Jun,MENG Yimeng,et al.Design and experiment of tactile sensors for testing surface roughness of fruits and vegetable[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2015,46(11):16-21.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20151103&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2015.11.003.(in Chinese)
[19]FOURMANN J,COUSTOU A,AUBERT H,et al.Wireless pressure measurement in air blast using PVDF sensors[C]∥Sensors,IEEE,2017:1-3.
[20]YOUSSEF A,MATTHEWS D,GUZZOMI A,et al.Measurement of pressure fluctuations inside a model thrust bearing using PVDF sensors[J].Sensors,2017,17(4):878-889.
[21]贺伟,雷挺.压电薄膜新型测力传感器及其调理电路的研究[J].压电与声光,2014,36(3):369-372.HE Wei,LEI Ting.Research of a new piezoelectric thin film force transducer and its control circuit[J].Piezoelectrics&Acoustooptics,2014,36(3):369-372.(in Chinese)
[22]SHIRINOV A V,SCHOMBURG W K.Pressure sensor from a PVDF film[J].Sensors&Actuators a Physical,2008,142(1):48-55.
[23]潘奇,万舟,易士琳.基于PVDF的三维力机器人触觉传感器的设计[J].传感技术学报,2015,28(5):648-653.PAN Qi,WAN Zhou,YI Shilin.Design of three-dimensional force tactile sensor for robot based on PVDF[J].Chinese Journal of Sensors and Actuators,2015,28(5):648-653.(in Chinese)
[24]ODRY,FULLER R,RUDAS I J,et al.Kalman filter for mobile-robot attitude estimation:novel optimized and adaptive solutions[J].Mechanical Systems&Signal Processing,2018,110(C):569-589.
[25]MARELLI D,ZAMANI M,FU M,et al.Distributed Kalman filter in a network of linear systems[J].Systems&Control Letters,2018,116:71-77.
[26]蒋焕煜,周鸣川,童俊华,等.基于卡尔曼滤波的PWM变量喷雾控制研究[J/OL].农业机械学报,2014,45(10):60-65.JIANG Huanyu,ZHOU Mingchuan,TONG Junhua,et al.PWM variable spray control based on Kalman filter[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2014,45(10):60-65.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20141010&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2014.10.010.(in Chinese)