Development of a new environmentally friendly and efficient centrifugal variable diameter metering device.

Introduction: The design of the maize metering device involves centrifugal variable diameter pneumatic and cleaning mechanisms, aiming to enhance the performance and power efficiency of pneumatic maize metering devices. Leveraging the impact of changes in centrifugal diameter and the guidance and positioning of airflow, we optimize the hole insert, seeding plate, seed limit board, and integrated front shell. This optimization facilitates the adjustment of both the quantity and posture of seed filling. As a result, seeds can form a uniform flow within the annular cavity, reducing the wind pressure necessary for regular operation and decreasing power consumption. Methods: A quadratic regression orthogonal rotation combination experiment is conducted using a self-made experiment bench, considering ground speed, wind pressure, and seeding rate as the experiment factors. Furthermore, a comparative experiment involving a novel centrifugal variable-diameter type metering device. Results: The results indicate optimal seeding performance when the ground speed is 13.2 km/h, the wind pressure is 1.2 kPa, and the feeding rate is 25 seeds/s. Under these conditions, the quality of feed index reaches 95.20%, the multi-index is 3.87%, and the miss index is 0.93%. Findings reveal that the developed seed metering device achieved a quality of feed index exceeding 93.00% across varying speeds of 12~18 km/h, aligning with the production requirements. Moreover, the actual power consumption of Type B and C is about 85.00% and 98.00% lower than Type A, standing at only 32.90 W at 18 km/h. The COP of Type C is about 86 times and 12 times that of Type A and B, respectively, meeting the demands for efficient production of maize seed metering devices. Discussion: In comparison to traditional design and structural parameter optimization methods for maize seed metering device, this study is helpful to the sustainable development of maize industry and reduce environmental pollution.

Determination of melon seed physical parameters and calibration of discrete element simulation parameters.

To improve the accuracy of the Hami melon discrete element model, the parameters of the Hami melon seed discrete element model were calibrated by combining practical experiments and simulation tests. The basic physical parameters of Hami melon seeds were obtained through physical experiments, including triaxial size, 100-grain mass, moisture content, density, Poisson's ratio, Young's modulus, shear modulus, angle of repose, suspension speed and various contact parameters. Taking the repose angle of seed simulation as an index, the parameters of each simulation model were significantly screened by the Plackett-Burman test. The results showed that the recovery coefficient, static friction coefficient and rolling friction coefficient of Hami melon seeds had significant effects on repose angle. Based on the steepest climbing test and quadratic regression orthogonal rotation combination test, it was determined that the significant order of the influence of various contact parameters on the angle of repose was static friction coefficient, collision recovery coefficient, and rolling friction coefficient. The optimal parameter combination was obtained through the mathematical regression model between the angle of repose and various contact parameters, namely, the collision recovery coefficient of Hami melon seeds was 0.518, the static friction coefficient of Hami melon seeds was 0.585 and the rolling friction coefficient of Hami melon seeds was 0.337. Under this condition, three static seed-dropping experiments and dynamic rolling accumulation experiments were carried out. The average simulated angle of repose was 31.93°, and the relative error with the actual value was only 1.71%. The average simulated rolling accumulation angle was 51.98°, and the relative error with the actual value was only 1.92%.

Design and experiment of Panax notoginseng root orientation transplanting device based on YOLOv5s.

Consistent root orientation is one of the important requirements of Panax notoginseng transplanting agronomy. In this paper, a Panax notoginseng orientation transplanting method based on machine vision technology and negative pressure adsorption principle was proposed. With the cut-main root of Panax notoginseng roots as the detection object, the YOLOv5s was used to establish a root feature detection model. A Panax notoginseng root orientation transplanting device was designed. The orientation control system identifies the root posture according to the detection results and controls the orientation actuator to adjust the root posture. The detection results show that the precision rate of the model was 94.2%, the recall rate was 92.0%, and the average detection precision was 94.9%. The Box-Behnken experiments were performed to investigate the effects of suction plate rotation speed, servo rotation speed and the angle between the camera and the orientation actuator(ACOA) on the orientation qualification rate and root drop rate. Response surface method and objective optimisation algorithm were used to analyse the experimental results. The optimal working parameters were suction plate rotation speed of 5.73 r/min, servo rotation speed of 0.86 r/s and ACOA of 35°. Under this condition, the orientation qualification rate and root drop rate of the actual experiment were 89.87% and 6.57%, respectively, which met the requirements of orientation transplanting for Panax notoginseng roots. The research method of this paper is helpful to solve the problem of orientation transplanting of other root crops.

Navigation path extraction for inter-row robots in Panax notoginseng shade house based on Im-YOLOv5s.

Introduction: The accurate extraction of navigation paths is crucial for the automated navigation of agricultural robots. Navigation line extraction in complex environments such as Panax notoginseng shade house can be challenging due to factors including similar colors between the fork rows and soil, and the shadows cast by shade nets. Methods: In this paper, we propose a new method for navigation line extraction based on deep learning and least squares (DL-LS) algorithms. We improve the YOLOv5s algorithm by introducing MobileNetv3 and ECANet. The trained model detects the seven-fork roots in the effective area between rows and uses the root point substitution method to determine the coordinates of the localization base points of the seven-fork root points. The seven-fork column lines on both sides of the plant monopoly are fitted using the least squares method. Results: The experimental results indicate that Im-YOLOv5s achieves higher detection performance than other detection models. Through these improvements, Im-YOLOv5s achieves a mAP (mean Average Precision) of 94.9%. Compared to YOLOv5s, Im-YOLOv5s improves the average accuracy and frame rate by 1.9% and 27.7%, respectively, and the weight size is reduced by 47.9%. The results also reveal the ability of DL-LS to accurately extract seven-fork row lines, with a maximum deviation of the navigation baseline row direction of 1.64°, meeting the requirements of robot navigation line extraction. Discussion: The results shows that compared to existing models, this model is more effective in detecting the seven-fork roots in images, and the computational complexity of the model is smaller. Our proposed method provides a basis for the intelligent mechanization of Panax notoginseng planting.

Rapid detection of Yunnan Xiaomila based on lightweight YOLOv7 algorithm.

Introduction: Real-time fruit detection is a prerequisite for using the Xiaomila pepper harvesting robot in the harvesting process. Methods: To reduce the computational cost of the model and improve its accuracy in detecting dense distributions and occluded Xiaomila objects, this paper adopts YOLOv7-tiny as the transfer learning model for the field detection of Xiaomila, collects images of immature and mature Xiaomila fruits under different lighting conditions, and proposes an effective model called YOLOv7-PD. Firstly, the main feature extraction network is fused with deformable convolution by replacing the traditional convolution module in the YOLOv7-tiny main network and the ELAN module with deformable convolution, which reduces network parameters while improving the detection accuracy of multi-scale Xiaomila targets. Secondly, the SE (Squeeze-and-Excitation) attention mechanism is introduced into the reconstructed main feature extraction network to improve its ability to extract key features of Xiaomila in complex environments, realizing multi-scale Xiaomila fruit detection. The effectiveness of the proposed method is verified through ablation experiments under different lighting conditions and model comparison experiments. Results: The experimental results indicate that YOLOv7-PD achieves higher detection performance than other single-stage detection models. Through these improvements, YOLOv7-PD achieves a mAP (mean Average Precision) of 90.3%, which is 2.2%, 3.6%, and 5.5% higher than that of the original YOLOv7-tiny, YOLOv5s, and Mobilenetv3 models, respectively, the model size is reduced from 12.7 MB to 12.1 MB, and the model's unit time computation is reduced from 13.1 GFlops to 10.3 GFlops. Discussion: The results shows that compared to existing models, this model is more effective in detecting Xiaomila fruits in images, and the computational complexity of the model is smaller.