Study of Practical Use of Machine Combined Seeder and Thinner with Compressed Air

本研究的目的是在大间隙四轮驱动拖拉机上研制一种播种机和播种机相结合的播种机，并探讨其实际用途。1986年（第一年）：播种机是用压缩空气操作的精密钻床。发芽的种子漂浮在具有高吸水特性的塑料颗粒制成的凝胶中，种子和凝胶都由0.05-03kgf/cm^2压力的压缩空气携带。针对输送种子分布难以保持恒定的问题，提出了一种主动控制方法，通过检测输送种子的时间间隔和罐内的根残留量来控制输送速度，并控制将多余的凝胶和种子清除到储罐中。减薄装置是由一个用于工厂自动化的非常小容量的排放阀构成的。一种农业化学物质通过压缩空气被传送并喷射到目标。在这一年里，下一项是通过实验得到的。(1)凝胶和种子的输送速度与压缩空气压力值的关系；(2)农药流量、喷嘴品种、覆盖面积与压缩空气压力值的关系。1987年（第二年）：播种装置改进为全电子气动控制操作，采用8位cpu，将夹管阀由电磁螺线管改为气缸。通过将极低体积放料阀由电磁操作阀改为全空气操作阀，改进了减薄装置，实现了精确的恒定放料，避免了拉丝现象。接下来，制作一个在二维平面上运动的机械手进行试验。该机械手由图像处理单元控制，并在目标上移动极低容积排料阀。然后，在大间隙四轮驱动拖拉机上安装了播种装置、疏播装置、控制器和压缩机，并进行了试验。3.1988年（去年）：在实地试验中获得了各种蔬菜的凝胶密度、凝胶与发芽或干燥种子的混合速率、输送和播种凝胶和种子的压力值的最佳值。对于疏化装置，得到了本研究中使用的农用化学品浓度、排料压力的最佳值。4. 未来的研究：未来的研究是澄清下一个术语。(1)建立幼苗叶面积、幼苗叶柄生长速度、叶片形状图像数据库，提取蔬菜和杂草生长阶段的重要特征；(2)在播种和间伐操作中增加植物控制自动化。少

The objects of this research are to develop a machine combined seeder and thinner on a high-clearlance, 4WD tractor and to investigate its practical use. 1.1986(the first year) : A seeding unit is a precision fruidic drill machine operated by compressed air. Germinated seeds float in gel made by pladtic particiles with high capacity water absorbing characteristics and the both of seeds and gel are carried by compressed air of 0.05-03kgf/cm^2 pressures. Because it is difficult to keep seeds distribution for conveying constant, an active control method which controls a conveying speed by detecting time interval of conveyed seeds and residue of gen in the tank, and controls to remove unnecessary gel and seeds to a reservoir is made on trial. A thinning unit is constructed by a very low volume discharging valve for factory automation. An Agricultural chemical is sent and jetted to a target by compressed air. In this year, next terms are obtaind from experiments. (1)conveying speed of gel a … More nd seed with pressure value of compressed air, (2)relation between flow rate of agricultural chemicals, nozzle varieties, covering area and pressure value of compressed air. 2.1987(the second year) : The seeding unit is improved to full electronic-pneumatic controlling operation with 8-bit cpu by changing a pinch valve from a electro-magnetic solenoid to an air cylinder. The thinning unit is improved by changing the very low volume discharging valve from a electro-magnetic operated valve to a full air operation valve, so an acculately constant discharge is obtained and a wirepulling phenomenon is prevented. In the next place, a manipulator moving on two dimensional planeis made on trial. The manipulator is controlled by an image processing unit and moves the very low volume dischaging valve on a target. And then, the seeding unit, the thinning unit, the controller and compressor are built in a high-clearlance 4WD tractor and experiments were done. 3.1988(the last year) : Optimum values of a density of gel, a rate mixing gel and germinated or dried seeds, pressure value for conveying and seeding gel and seeds as to various kinds of vegetable are obtained on the field tests. for the thinning unit, optimum values of a density of agricultural chemical used on this research, discharging pressure are obtained. 4. future research : A future research is to clarify next terms. (1)Construction of image databases which are leaf area of seedling, growing speed of leaf and stalk of seedling, shape of leaf and extraction of significant features about growing stages of vegetables and weeds, (2)Automation of plant control added to the seeding and thinning operation. Less