温室钵苗移栽机的创新设计与钵苗健康信息的视觉检测方法研究

项目名称： 温室钵苗移栽机的创新设计与钵苗健康信息的视觉检测方法研究

项目编号： No.51275457

项目类型： 面上项目

立项/批准年度： 2013

项目学科： 机械、仪表工业

项目作者： 蒋焕煜

作者单位： 浙江大学

项目金额： 80万元

中文摘要： 围绕限制国内温室钵苗自动化移栽装备研发中的瓶颈问题，重点开展温室钵苗移栽机关键部件的创新设计与钵苗健康信息的视觉检测方法研究，是开发适合我国温室商品苗实际的钵苗移栽作业装备的基础。本研究在分析国内外温室钵苗机械化移栽现状的基础上，以温室主要栽培作物为研究对象，利用多学科技术的交叉研究、自主创新和国际合作，从系统角度出发，重点开展温室钵苗机械化移栽作业的钵苗可移栽状态、移栽末端执行器的创新设计和优化、适合钵苗健康信息检测的视觉方法和机构创新、移栽作业路径控制策略和优化等研究。结合钵苗物理与生理特性信息和试验研究，利用高速摄影、虚拟仿真现代设计方法等进行末端执行器运动学、动力学分析和仿真，结合试验开展关键机构的创新设计与优化；基于改进的图像处理算法和辅助图像识别的机构创新相结合，解决因叶片重叠、越界等引起的钵苗信息获取难的问题，项目有望获得我国温室钵苗移栽机开发过程中的理论和关键技术突破。

中文关键词： 移栽机；末端执行器；机器视觉；路径优化；力学分析

英文摘要： Focuses on essential questions which restricts the development of domestic seedling transplanting robot in greenhouse, the research main in the following two aspects- - innovation design of seedling transplanter and detection methods of healthy information by machine vision in greenhouse.the research is the fundamental technology of seedling automatic transplanting in seedling cultivating for commercial in our country. In this study, we analyze the the development of seedling transplanting equipment in greenhouse in domestic and overseas. Using the main crop as the research object,taking the advantage of multidisciplinary, independent innovation,and international cooperation,we do the research from the system angle. Study on physical and physiological characteristics of seedlings which meet the requirements of mechanical operation, innovation design and optimization of seedling end-effector, detection methods of healthy information of seedlings in plug tray by machine vision and mechanism innovation, planning seedlings transplanting strategy and optimization by algorithm,and so on. Combination the information of seedlings' physical and physiological characteristic information and experimental investigation, do the task of verifing Kinematics and dynamics of end-effector for optimization by the methods of hig

英文关键词： transplanter；end-effector；machine vision；route planning；force analysis