Design and experiment of seed tube of seedling planter for Panax notoginseng
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摘要:目的
为提高三七Panax notoginseng育苗机械化播种精确性，针对三七小行株距的特点，研究一种新型导种管。
方法分别建立有、无导种管情况下种子运动的力学模型。在土槽上开展了以投种高度、播种机前进速度、投种角度为试验因素，以理论播种点与实际播种点距离偏差的标准差和弹跳率为试验指标的三因素五水平二次回归正交旋转组合试验；借助Design-Expert 10.0.3软件建立了试验因素与指标间的回归方程及多目标优化数学模型，获取最佳投种参数组合；在最优参数组合下，使用高速摄像技术获取种子运动轨迹，结合运用图像处理技术和曲线拟合法进行种子运动轨迹曲线方程研究；借助EDEM软件进行导种管截面尺寸仿真分析，确定截面尺寸；用3D打印技术试制导种管并开展播种验证试验。
结果在有、无导种管情况下，影响种子离开排种器后运动的共同因素为排种器的周围速度、投种高度和投种角度。通过正交旋转组合试验得出最优投种参数组合为投种高度20 cm、播种机前进速度7.8 m/min、投种角度42°。在未安装导种管条件下，理论播种点与实际播种点距离偏差的标准差、弹跳率分别为51.66 mm和72.31%。研制的新型导种管出口和入口截面尺寸分别为26 mm × 30 mm和26 mm × 60 mm；安装新型导种管后验证试验结果显示，理论播种点与实际播种点距离偏差标准差为26.90，弹跳率为45.20%。
结论新型导种管满足了三七育苗机械化播种要求，播种精确性明显提高，研究结果可为三七育苗播种机导种管设计与田间播种应用提供了参考依据。
Abstract:ObjectiveIn order to improve the accuracy of mechanized seeding of Panax notoginseng, according to the characteristics of small row spacing of P. notoginseng, a new type of seed guide tube was studied.
MethodThe mechanical model was established with and without seed guide tube, respectively. The experiment was carried out in soil trough through the three-factor-five-level quadratic regression orthogonal rotation combination experiment with seed release height, seeder forward speed and seed release angle as the experimental factors, and the standard deviation of distance deviation between theoretical seeding point and actual seeding point, and bounce rate as the experimental indexes. With Design-Expert 10.0.3 software, the regression equation between test factors and indexes and the mathematical model of multi-objective optimization were established to get the best combination of seeding parameters. Under the optimal combination of parameters, high-speed camera technology was used to obtain the seed motion trajectory, and the curve equation of seed motion trajectory was studied by image processing technology and curve fitting method. With EDEM software, the cross-section size of seed guide tube was simulated and analyzed, and the cross-section size was determined. Seed guide tube was manufactured using 3D printing technology and seeding verification test was carried out.
ResultThe common factors affecting seed motion with and without the seed guide tube were circumferential speed of seed merering device, seed release height and seed release angle. Through orthogonal rotation combination test, the optimal combination of seeding parameters was as follows: The seed release height was 20 cm, the seeder forward speed was 7.8 m/min and the seed release angle was 42°. Without seed guide tube, the standard deviation of distance deviation between theoretical seeding point and actual seeding point was 51.66 mm, and the bounce rate was 72.31%. The exit and entrance cross-section sizes of the developed seed guide tube were 26 mm × 30 mm and 26 mm × 60 mm, respectively. The verification test results showed that after installing the new seed guide tube, the standard deviation of distance deviation between theoretical seeding point and actual seeding point was 26.90 mm and the bounce rate was 45.20%.
ConclusionThe new seed guide tube satisfies the requirement of the mechanized seeding of P. notoginseng, the seeding accuracy after installing the new seed guide tube is obviously improved. The research results provide a reference basis for the design and field seeding application of the seed guide tube of P. notoginseng seedling seeder.
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Keywords:
- Panax notoginseng /
- Mechanized seeding /
- Seed guide tube /
- Motion trajectory /
- Image processing /
- EDEM simulation
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图 1 三七育苗槽及播种示意图
1：槽肩，2：三七种子，3：土槽基质，4：育苗槽
Figure 1. Structure sketch of Panax notoginseng seedling trough and seeding
1: Slotted shoulder, 2: Panax notoginseng seeds, 3: Soil trough matrix, 4: Nursery trough
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图 2 三七育苗播种机结构示意图
1：种箱，2：窝眼排种滚筒，3：导种装置，4：开沟器，5：镇压弹簧，6：限位拉伸手柄，7：限位轮，8：被动地轮，9：电动机，10：控制柜，11：传动装置，12：机架，13：升降螺杆，14：主动轮，15：万向轮
Figure 2. Structure sketch of Panax notoginseng seedling planter
1: Seed box, 2: Hole roller seed metering device, 3: Seed guide device, 4: Ditching device, 5: Crack spring, 6: Limit stretch handle, 7: Limit wheel, 8: Passive ground wheel, 9: Electric motor, 10: Control cabinet, 11: Transmission, 12: Frame, 13: Lifting screw, 14: Driving wheel, 15: Universal wheel
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图 3 种子与导种管管壁接触过程的受力及运动分析图
建立一个以刚进入导种管种子中心点为坐标原点、以播种机前进速度的反方向为x0轴正方向、以竖直向下为y0轴正方向的坐标系O0；G为种子重力，N；N为导种管直线部分对种子的支持力，N；f为种子与导种管之间的摩擦力，N；β为导种管与水平线的夹角，(°)；H为种子离开排种器时离沟底的高度，m；V0为种子脱离排种器后初始运动速度，m/s；θ为投种角度，(°)；R1为排种器上型孔分布半径，m；n1为排种器转速，r/min；V2为育苗播种机的前进速度，m/s；V1为种子离开导种管时的初速度，m/s
Figure 3. Force and motion analysis graph of seeds which contact with seed guide tube wall
Establish a coordinate system O0 with the center of the seed just entering the seed guide tube as the coordinate origin, the reverse direction of the seeder’s forward speed as the positive direction of x0 axis, the vertical downward direction as positive direction of y0 axis; G is seed gravity, N; N is the support force of the straight part of the seed guide tube to the seed, N; f is the friction between seed and seed guide tube, N; β is the angle between the guide tube and the horizontal line, (°); H is the height of the seed from the seed bottom of the ditch when it leaves the seed metering device, m; V0 is the initial velocity of the seed after it is removed from the seed metering device, m/s; θ is the seed release angle, (°); R1 is the upper hole distribution radius on the seed metering device, m; n1 is the rotation speed of the seed metering device, r/min; V1 is the initial velocity of the seed when it leaves the seed guide tube, m/s; V2 is the forward speed of seedling planter, m/s
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图 4 无导种装置时种子运动结构简图
建立一个以刚脱离排种器种子中心点为坐标原点、以播种机前进速度的反方向为x1轴正方向、以竖直向下为y1轴正方向的坐标系O1；H'为种子离开排种器时离沟底的高度，m；V'0为种子脱离排种器后初始运动速度，m/s；θ'为投种角度，(°)；R'1为排种器上型孔分布半径，m；n'1为排种器转速，r/min；V'2为育苗播种机的前进速度，m/s；V'1为种子离开导种管时的速度，m/s；V'1x为V'1的水平分速度；V'1y为V'1的竖直分速度
Figure 4. Structural sketch of seed motion without seed guiding device
Establish a coordinate system O1 with the center of the seed just separated from seed metering device as the coordinate origin, the reverse direction of the seeder’s forward speed as the positive direction of x1 axis; the vertical downward direction as positive direction of y1 axis; H' is the height of the seed from the bottom of the ditch when it leaves the seed metering device, m; V'0 is the initial movement speed of seeds after they are separated from the seed metering device, m/s; θ' is the seed release angle, (°); R'1 is the distribution radius of the upper hole on the seed metering device, m; n'1 is the rotation speed of the seed metering device, r/min; V'1 is the speed of seeds after leaving the seed guide tube, m/s; V'1x is the horizontal speed of V'1; V'1y is the vertical partial velocity of V'1; V'2 is the forward speed of seedling planter, m/s
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图 5 播种精确性试验台
1：种箱，2：排种器，3：投种器，4：摄像机支架，5：机架，6：电控柜，7：传动链条，8：电动机，9：地轮
Figure 5. Seeding accuracy test bench
1: Seed box, 2: Seed metering device, 3: Seed pitching device, 4: Camera bracket, 5: Frame, 6: Control cabinet, 7: Transmission chain, 8: Electric motor, 9: Ground wheel
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图 6 投种角度与播种精确性关系曲线
Figure 6. The curve of the relation between seed release angle and seeding accuracy
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图 7 图像试验仪器安装图
1：高速摄像仪；2：手持云台；建立一个以排种器中心点为坐标原点、以水平正方向为x2轴正方向、以竖直向下为y2轴正方向的世界坐标系O2；$H^{\prime \prime} $为种子离开排种器时离沟底的高度，m；$V_0^{\prime \prime} $为种子脱离排种器后初始运动速度，m/s；$\theta ^{\prime \prime} $为投种角度，(°)；$R_1^{\prime \prime} $为排种器上型孔分布半径，m；$n_1^{\prime \prime} $为排种器转速，r/min
Figure 7. Installation picture of image testing instrument
1: High speed camera; 2: Handle stabilizer; Establish a world coordinate system O2 with the center of the seed metering device as the coordinate origin, the horizontal positive direction as x2 axis positive direction, the vertical downward direction as positive direction of y2 axis; $ H^{\prime \prime}$ is the height of the seed from the bottom of the ditch when it leaves the seed metering device, m; $V_0^{\prime \prime} $ is the initial movement speed of seeds after they are separated from the seed metering device, m/s; $\theta ^{\prime \prime} $ is the seed release angle, (°); R"1 is the distribution radius of the upper hole on the seed metering device, m; $n_1^{\prime \prime} $ is the rotation speed of the seed metering device, r/min
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图 8 种子下落轨迹序列图像处理过程
Figure 8. Sequential image processing of seed falling trajectory sequence
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图 12 拟合曲线型导种管
R2为导种管圆弧半径，mm；H2为拟合曲线设计高度，mm；H3为过渡放样曲线高度，mm
Figure 12. Fitting curve-shaped seed guide tube
R2 is the arc radius of seed guide tube, mm; H2 is the design height of fitted curve, mm; H3 is the height of transition lofting curve, mm
表 1 播种精确性试验因素水平表
Table 1 Seeding accuracy test factor level table
水平
level投种高度(Z1)/cm
Seed release height播种机前进速度(Z2)/(m·min−1)
Seeder forward
speed投种角度(Z3)/(°)
Seed release
angle1.682 40 10.0 45 1 36 9.2 41 0 30 8.0 35 −1 24 6.8 29 −1.682 20 6.0 25 Δj 6 1.2 6 
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表 2 播种精确性试验方案与结果
Table 2 Seeding accuracy test scheme and result
序
号
No.投种高度 (Z1)
Seed release height播种机前进速度 (Z2)
Seeder forward
speed投种角度 (Z3)
Seed release
angle标准差(P1)/mm
Standard
deviation弹跳率(P2)/%
Bounce
rate1 −1 −1 −1 82.34 79.27 2 1 −1 −1 82.79 81.67 3 −1 1 −1 96.48 80.06 4 1 1 −1 101.52 82.53 5 −1 −1 1 51.08 67.98 6 1 −1 1 56.32 79.84 7 −1 1 1 56.80 75.95 8 1 1 1 79.59 73.25 9 −1.682 0 0 57.24 75.81 10 1.682 0 0 62.87 80.43 11 0 −1.682 0 60.04 78.79 12 0 1.682 0 104.95 83.70 13 0 0 −1.682 60.17 79.86 14 0 0 1.682 63.07 74.74 15 0 0 0 54.43 77.07 16 0 0 0 54.95 81.07 17 0 0 0 51.66 78.80 18 0 0 0 75.10 82.80 19 0 0 0 61.60 79.33 20 0 0 0 61.05 80.93 21 0 0 0 60.23 82.13 22 0 0 0 59.80 83.65 23 0 0 0 75.80 82.53
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表 3 播种精确性试验方差分析1）
Table 3 Variance analysis of seeding accuracy test
来源
Source标准差
Standard deviation弹跳率
Bounce rate平方和
Sum of square均方
Mean squareF P 平方和
Sum of square均方
Mean squareF P 模型
Model3 914.67/
(3 600.15)434.96/
(1 200.05)3.27/
(11.14)0.026 3**/
(0.000 2**)224.35/
(161.81)24.93/
(53.94)3.89/
(7.03)0.013 5*/
(0.002 3**)Z1 135.32 135.32 1.02 0.331 8 34.80/
(34.80)34.80/
(34.80)5.44/
(4.54)0.036 5*/
(0.046 5*)Z2 1382.15/
(1 382.15)1 382.15/
(1 382.15)10.38/
(12.84)0.006 7**/
(0.002**)9.33 9.33 1.46 0.248 9 Z3 959.35/
(959.35)959.35/
(959.35)7.20/
(8.91)0.018 8*/
(0.007 6**)90.32/
(90.32)90.32/
(90.32)14.11/
(11.77)0.002 4**/
(0.002 8**)Z1Z2 61.27 61.27 0.46 0.509 5 26.25 26.25 4.10 0.063 9 Z1Z3 63.51 63.51 0.48 0.502 0 2.30 2.30 0.36 0.559 2 Z2Z3 1.88 1.88 0.014 0.907 2 0.01 0.01 0.00142 0.970 5 $ {Z}_{\text{1}}^{\text{2}} $ 15.36 15.36 0.12 0.739 5 24.40 24.40 3.81 0.072 8 $ {Z}_{\text{2}}^{\text{2}} $ 1 263.42/
(1 258.64)1 263.42/
(1 258.64)9.49/
(11.69)0.008 8**/
(0.002 9**)0.29 0.29 0.045 0.835 7 ${Z}_{\text{3}}^{\text{2}} $ 37.52 37.52 0.28 0.604 5 37.15/
(36.70)37.15/
(36.70)5.80/
(4.78)0.031 6*/
(0.041 4*)残差
Residual1 731.32/
(2 045.85)133.18/
(107.68)83.23/
(145.76)6.40/
(7.67)失拟项
Lack of fit1 147.58/
(1 462.11)229.52/
(132.92)3.15/
(1.82)0.072 9*/
(0.202 1)46.31/
(108.85)9.26/
(9.90)2.01/
(2.14)0.181 8/
(0.144 1)误差
Pure error583.74/
(583.74)72.97/
(72.97)36.91/
(36.91)4.61/
(4.61)总和
Total5645.99/
(5645.99)307.57/
(307.57)1)Z1：投种高度，Z2：播种机前进速度，Z3：投种角度；“*”表示在P≤0.05水平差异显著，“**”表示在P≤0.01水平差异显著；“/”下“( )”内数字为剔除不显著项后重新进行方差分析的结果
1) Z1: Seed release height, Z2: Seeder forward speed, Z3: Seed release angle;“*” indicates significant difference at P≤0.05 level, “**” indicates significant difference at P≤0.01 level; Data in “( )” under “/” are variance analysis result after rejecting unsignificant items
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表 4 新型导种管播种验证试验结果
Table 4 Verification experiment results of seeding with new seed guide tube
试验编号
Number of test标准差/mm
Standard deviation弹跳率/%
Bounce rate1 23.10 41.80 2 23.90 45.30 3 33.70 48.50 均值 Mean 26.90 45.20
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