بررسی عملکرد کارنده نیوماتیکی بر اساس پردازش فیلم و کالمن فیلتر

نوع مقاله: مقاله پژوهشی

نویسندگان

1 دانشگاه رامین خوزستان

2 فارغ التحصیل کارشناسی ارشد دانشکده مهندسی زراعی و عمران روستایی، گروه ماشین های کشاورزی و مکانیزاسیون، دانشگاه کشاورزی و منابع طبیعی رامین خوزستان

چکیده

از کارنده نیوماتیکی به طور گسترده برای کشت دقیق بذور سورگوم و خیار استفاده می­شود. عملکرد و دقت پخش موزع نیوماتیکی از اهمیت زیادی برخوردار است. بنابراین آزمایشاتی در سه مکش 25، 35 و  45 میلی­بار و دو سطح سرعت پیشروی 3 تا 5/4 و 6 تا 5/8 کیلومتر بر ساعت انجام و شاخص چندگانه، کیفیت تغذیه و نکاشت اندازه­گیری شد. در ضمن، یک مدل حرکتی با استفاده از کالمن برای ردیابی ساخته و رفتارهای بذور ترسیم گردید. بر اساس تجزیه و تحلیل رفتارهای سقوط بذر، مشخص شد که یک رابطه­ نزدیکی بین رفتارهای سقوط بذر و یکنواختی کاشت وجود داشت. سطوح بهینه مکش و سرعت پیشروی کشت دقیق برای بذور خیار و سورگوم در مکش 35 میلی­بار و سرعت 3 تا 5/4 کیلومتر بر ساعت به دست آمد. در نهایت مشخص گردید که با افزایش سرعت و در مکش نامناسب، درصد انحراف بذور از مسیر مستقیم بیشتر شده که این مساله سبب کاهش یکنواختی می‌گردد. 

کلیدواژه‌ها

موضوعات


عنوان مقاله [English]

Investigation of vacuum planter performance based on video processing and Kalman filter

چکیده [English]

The most widely used machine for precision sowing of cucumber and sorghum seeds is vacuum type. The performance and distribution accuracy of the vacuum type metering unit is of great importance. Therefore, the experiments at three pressures of 25, 35, 45 mbar and two level of forward speed 3 to 4.5 km/h and 6 to 8.5 km/h were conducted and multiple planting, feeding quality and miss planting were measured. In the meantime, a motion model is constructed using Kalman filter to track and draw seed trajectories. Based on the analysis of seeds falling trajectories, it was found that the there was a close relation between of seeds falling trajectories and seeding uniformity. The optimum levels of vacuum pressure and forward speed for precision seeding were found to be 35 mbar, 3 to 4.5 km/h, and 35 mbar, 3 to 4.5 km/h for cucumber and sorghum seeds, respectively. Finally, it was perceived that with increasing forward speed at inappropriate vacuum pressure, percentage of deviated seeds from straight movement was increased, which it decreased seed distribution uniformity.

کلیدواژه‌ها [English]

  • Kalman Filter
  • Video processing
  • Pneumatic planter
  • Seed distribution uniformity

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