基于贪心遗传算法的穴盘苗补栽路径优化
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摘要
温室育苗需要通过补苗移栽作业用健康钵苗替换穴盘内未发芽或劣质的钵苗,保证钵苗的质量。自动补苗移栽机可利用机器视觉获取穴盘苗健康信息,控制末端执行器抓取钵苗进行补苗作业,移栽效率高。穴盘内需补苗孔穴的位置具有随机性,对补栽路径进行规划,可进一步提高补栽效率。本文综合贪心算法和遗传算法的特性提出一种贪心遗传算法,在分段步长取8,优化代数取100时,可实现稀疏和密集穴盘的补栽路径优化,具有鲁棒性。贪心遗传算法所规划补苗路径长度与全遗传算法接近,均值差在443 mm以内;相比优化前的固定顺序法,贪心遗传算法路径长度可缩短33.8%~41.3%,缩短长度随空穴数量增加而加长;贪心遗传算法与全遗传算法规划补栽路径耗时分别为1.81 s和5.59 s。对比可知,贪心遗传算法更有利于自动移栽机输送单元和移栽单元间的动作衔接,可进一步提高自动移栽机效率。
Replugging tasks make seedling in well consistency in greenhouses. Healthy seedlings are used to replace the ungerminated or poor growth seedlings. This task is labor intensive by traditional manual method. And automated transplanters do the replugging task in high efficiency and good quality.According to the seedlings healthy information which is detected by machine vision,end-effector grasping healthy seedlings does the repetitive replugging task. The position of vacancy holes in plug tray are randomly. Optimizing the seedling grasping sequence can decrease the transplanting path which can improve working efficiency. A greedy genetic algorithm( GGA) was proposed for replugging tour planning which combined the character of greedy algorithm( GAS) and genetic algorithm( GA). The algorithm was robustness. The GGA was suitable for sparse and dense trays' path optimization when segmentation step value and hereditary algebra were 8 and 100,respectively. The average path deviation of GGA and GA was 443 mm. And their effectiveness was better than that of GAS. Compared with fixed sequence method( FS),the range of optimization amplitude for GGA was 33. 8% ~ 41. 3%. GA and GGA could finish the optimization operation in 1. 81 s and 5. 59 s,respectively. The results showed that GGA was more suitable for the action requirement between delivery unit and transplanting unit. The working efficiency of automated transplanter was further improved.
Replugging tasks make seedling in well consistency in greenhouses. Healthy seedlings are used to replace the ungerminated or poor growth seedlings. This task is labor intensive by traditional manual method. And automated transplanters do the replugging task in high efficiency and good quality.According to the seedlings healthy information which is detected by machine vision,end-effector grasping healthy seedlings does the repetitive replugging task. The position of vacancy holes in plug tray are randomly. Optimizing the seedling grasping sequence can decrease the transplanting path which can improve working efficiency. A greedy genetic algorithm( GGA) was proposed for replugging tour planning which combined the character of greedy algorithm( GAS) and genetic algorithm( GA). The algorithm was robustness. The GGA was suitable for sparse and dense trays' path optimization when segmentation step value and hereditary algebra were 8 and 100,respectively. The average path deviation of GGA and GA was 443 mm. And their effectiveness was better than that of GAS. Compared with fixed sequence method( FS),the range of optimization amplitude for GGA was 33. 8% ~ 41. 3%. GA and GGA could finish the optimization operation in 1. 81 s and 5. 59 s,respectively. The results showed that GGA was more suitable for the action requirement between delivery unit and transplanting unit. The working efficiency of automated transplanter was further improved.
引文
1 KUTZ L J,MILES G E,HAMMER P.Robotic transplanting of bedding plants[J].Transactions of the ASAE,1987,30(3):586-590.
2 YANG Y,TING K C,GIACOMELLI G A.Factors affecting performance of sliding-needles gripper during robotic transplanting of seedlings[J].Applied Engineering in Agriculture,1991,7(4):493-498.
3 TAI Y W,LING P P,TING K C.Machine vision assisted robotic seedling transplanting[J].Transactions of the ASAE,1994,37(2):661-667.
4 TING K C,GIACOMELLI G A,SHEN S J.Robot workcell for transplanting of seedlings.PartⅠ:layout and materials flow[J].Transactions of the ASAE,1990,33(3):1005-1010.
5 TING K C,GIACOMELLI G A,SHEN S J,et al.Robot workcell for transplanting of seedlings.PartⅡ:end-effector development[J].Transactions of the ASAE,1990,33(3):1013-1017.
6 RYU K H,KIM G,HAN J S.Development of a robotic transplanter for bedding plants[J].Journal of Agricultural Engineering Research,2001,78(2):141-146.
7缪小花,毛罕平,韩绿化,等.黄瓜穴盘苗拉拔力及钵体抗压性能影响因素分析[J/OL].农业机械学报,2013,44(增刊1):27-32.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=2013s106&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2013.S1.006.MIAO Xiaohua,MAO Hanping,HAN Lühua,et al.Analysis of influencing factors on force of picking plug seedlings and pressure resistance of plug seedlings[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2013,44(Supp.1):27-32.(in Chinese)
8蒋焕煜,施经挥,任烨,等.机器视觉在幼苗自动移钵作业中的应用[J].农业工程学报,2009,25(5):127-131.JIANG Huanyu,SHI Jinghui,REN Ye,et al.Application of machine vision on automatic seedling transplanting[J].Transactions of the CSAE,2009,25(5):127-131.(in Chinese)
9韩绿化,毛罕平,胡建平,等.穴盘苗自动移栽钵苗力学特性试验[J].农业工程学报,2013,29(2):24-29.HAN Lühua,MAO Hanping,HU Jianping,et al.Experiment on mechanical property of seedling pot for automatic transplanter[J].Transactions of the CSAE,2013,29(2):24-29.(in Chinese)
10田素博,王荣华,邱立春.温室穴盘苗自动移栽输送系统设计[J].沈阳农业大学学报,2009,40(4):620-622.TIAN Subo,WANG Ronghua,QIU Lichun.Design on conveyor system of automatic transplanting for plug seedling in greenhouse[J].Journal of Shenyang Agricultural University,2009,40(4):620-622.(in Chinese)
11孙国祥,汪小旵,何国敏,等.穴盘苗移栽机末端执行器设计与虚拟样机分析[J].农业机械学报,2010,41(10):48-53.SUN Guoxiang,WANG Xiaochan,HE Guomin,et al.Design of the end-effector for plug seedlings transplanter and analysis on virtual prototype[J].Transactions of the Chinese Society for Agricultural Machinery,2010,41(10):48-53.(in Chinese)
12 TONG J H,LI J B,JIANG H Y.Machine vision techniques for the evaluation of seedling quality based on leaf area[J].Biosystems Engineering,2013,115(3):369-379.
13韩绿化,毛罕平,严蕾,等.穴盘育苗移栽机两指四针钳夹式取苗末端执行器[J/OL].农业机械学报,2015,46(7):23-30.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20150704&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2015.07.004.HAN Lühua,MAO Hanping,YAN Lei,et al.Pincette-type end-effector using two fingers and four pins for picking up seedlings[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2015,46(7):23-30.(in Chinese)
14丁文芹,毛罕平,胡建平,等.穴盘苗自动移栽机的结构设计及运动仿真分析[J].农机化研究,2011,33(10):75-77,137.DING Wenqin,MAO Hanping,HU Jianping,et al.Structure design and simulation analysis on the plug seedlings autotransplanter[J].Journal of Agricultural Mechanization Research,2011,33(10):75-77,137.(in Chinese)
15冯青春,王秀,姜凯,等.花卉幼苗自动移栽机关键部件设计与试验[J].农业工程学报,2013,29(6):21-27.FENG Qingchun,WANG Xiu,JIANG Kai,et al.Design and test of key parts on automatic transplanter for flower seedling[J].Transactions of the CSAE,2013,29(6):21-27.(in Chinese)
16杨扬,曹其新,盛国栋,等.基于机器视觉的育苗穴盘定位与检测系统[J/OL].农业机械学报,2013,44(6):232-235.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20130640&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2013.06.040.YANG Yang,CAO Qixin,SHENG Guodong,et al.Plug tray localization and detection system based on machine vision[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2013,44(6):232-235.(in Chinese)
17杨振宇,张文强,李伟,等.基于单目视觉的移栽钵苗叶片朝向的调整方法[J].农业工程学报,2014,30(14):26-33.YANG Zhenyu,ZHANG Wenqiang,LI Wei,et al.Monocular vision-based method for direction adjustment of transplanting pottedseedling leaves[J].Transactions of the CSAE,2014,30(14):26-33.(in Chinese)
18孙国祥,汪小旵,何国敏.基于边缘链码信息的番茄苗重叠叶面分割算法[J].农业工程学报,2010,26(12):206-211.SUN Guoxiang,WANG Xiaochan,HE Guomin.Segmentation algorithm of overlapping tomato seedling leaves based on edge chaincode information[J].Transactions of the CSAE,2010,26(12):206-211.(in Chinese)
19韩绿化,毛罕平,缪小花,等.基于穴盘苗力学特性的自动取苗末端执行器设计[J/OL].农业机械学报,2013,44(11):260-265.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20131144&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2013.11.044.HAN Lühua,MAO Hanping,MIAO Xiaohua,et al.Experiment on mechanical property of seedling pot for automatic transplanter[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2013,44(11):260-265.(in Chinese)
20张丽华,邱立春,田素博,等.指针夹紧式穴盘苗移栽爪设计[J].沈阳农业大学学报,2010,41(2):235-237.ZHANG Lihua,QIU Lichun,TIAN Subo,et al.Design of a needle clamping claw for plug seedling transplanting[J].Journal of Shenyang Agricultural University,2010,41(2):235-237.(in Chinese)
21童俊华,蒋焕煜,蒋卓华,等.钵苗自动移栽机器人抓取指针夹持苗坨参数优化试验[J].农业工程学报,2014,30(16):8-16.TONG Junhua,JIANG Huanyu,JIANG Zhuohua,et al.Experiment on parameter optimization of gripper needles clamping seedling plug for automatic transplanter[J].Transactions of the CSAE,2014,30(16):8-16.(in Chinese)
22金鑫,杜新武,杨传华,等.蔬菜移栽穴盘苗自动输送装置设计与试验[J/OL].农业机械学报,2016,47(7):103-111.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20160715&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2016.07.015.JIN Xin,DU Xinwu,YANG Chuanhua,et al.Design and experiment on automatic transporting mechanism for vegetable potted seedlings[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2016,47(7):103-111.(in Chinese)
23赵雄,王川,杨茂祥,等.非圆齿轮行星轮系自动取苗机构逆向设计分析[J].农业工程学报,2015,31(6):30-36.ZHAO Xiong,WANG Chuan,YANG Maoxiang,et al.Reverse design and analysis of automatic seedling pick-up mechanism with non-circular gear planetary train[J].Transactions of the CSAE,2015,31(6):30-36.(in Chinese)
24俞高红,俞腾飞,叶秉良,等.一种旋转式穴盘苗取苗机构的设计[J].机械工程学报,2015,51(7):67-76.YU Gaohong,YU Tengfei,YE Bingliang,et al.Design of a rotary plug seedling pick-up mechanism[J].Journal of Mechanical Engineering,2015,51(7):67-76.(in Chinese)
25 HU Jianping,YAN Xiaoyue,MA Jun.Dimensional synthesis and kinematics simulation of a high-speed plug seedling transplanting robot[J].Computers and Electronics in Agriculture,2014,107(3):64-72.
26童俊华,蒋焕煜,周鸣川.基于遗传算法的穴盘苗自动移钵路径优化[J/OL].农业机械学报,2013,44(4):45-49.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20130408&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2013.04.008.TONG Junhua,JIANG Huanyu,ZHOU Mingchuan.Optimization of seedling transplanting path based on genetic algorithm[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2013,44(4):45-49.(in Chinese)
27童俊华,蒋焕煜,武传宇.基于贪心算法的温室钵苗稀植移栽路径优化[J/OL].农业机械学报,2016,47(3):8-13.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20160302&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2016.03.002.TONG Junhua,JIANG Huanyu,WU Chuanyu.Optimization of seedlings lower density transplanting path based on greedy algorithm[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2016,47(3):8-13.(in Chinese)
2 YANG Y,TING K C,GIACOMELLI G A.Factors affecting performance of sliding-needles gripper during robotic transplanting of seedlings[J].Applied Engineering in Agriculture,1991,7(4):493-498.
3 TAI Y W,LING P P,TING K C.Machine vision assisted robotic seedling transplanting[J].Transactions of the ASAE,1994,37(2):661-667.
4 TING K C,GIACOMELLI G A,SHEN S J.Robot workcell for transplanting of seedlings.PartⅠ:layout and materials flow[J].Transactions of the ASAE,1990,33(3):1005-1010.
5 TING K C,GIACOMELLI G A,SHEN S J,et al.Robot workcell for transplanting of seedlings.PartⅡ:end-effector development[J].Transactions of the ASAE,1990,33(3):1013-1017.
6 RYU K H,KIM G,HAN J S.Development of a robotic transplanter for bedding plants[J].Journal of Agricultural Engineering Research,2001,78(2):141-146.
7缪小花,毛罕平,韩绿化,等.黄瓜穴盘苗拉拔力及钵体抗压性能影响因素分析[J/OL].农业机械学报,2013,44(增刊1):27-32.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=2013s106&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2013.S1.006.MIAO Xiaohua,MAO Hanping,HAN Lühua,et al.Analysis of influencing factors on force of picking plug seedlings and pressure resistance of plug seedlings[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2013,44(Supp.1):27-32.(in Chinese)
8蒋焕煜,施经挥,任烨,等.机器视觉在幼苗自动移钵作业中的应用[J].农业工程学报,2009,25(5):127-131.JIANG Huanyu,SHI Jinghui,REN Ye,et al.Application of machine vision on automatic seedling transplanting[J].Transactions of the CSAE,2009,25(5):127-131.(in Chinese)
9韩绿化,毛罕平,胡建平,等.穴盘苗自动移栽钵苗力学特性试验[J].农业工程学报,2013,29(2):24-29.HAN Lühua,MAO Hanping,HU Jianping,et al.Experiment on mechanical property of seedling pot for automatic transplanter[J].Transactions of the CSAE,2013,29(2):24-29.(in Chinese)
10田素博,王荣华,邱立春.温室穴盘苗自动移栽输送系统设计[J].沈阳农业大学学报,2009,40(4):620-622.TIAN Subo,WANG Ronghua,QIU Lichun.Design on conveyor system of automatic transplanting for plug seedling in greenhouse[J].Journal of Shenyang Agricultural University,2009,40(4):620-622.(in Chinese)
11孙国祥,汪小旵,何国敏,等.穴盘苗移栽机末端执行器设计与虚拟样机分析[J].农业机械学报,2010,41(10):48-53.SUN Guoxiang,WANG Xiaochan,HE Guomin,et al.Design of the end-effector for plug seedlings transplanter and analysis on virtual prototype[J].Transactions of the Chinese Society for Agricultural Machinery,2010,41(10):48-53.(in Chinese)
12 TONG J H,LI J B,JIANG H Y.Machine vision techniques for the evaluation of seedling quality based on leaf area[J].Biosystems Engineering,2013,115(3):369-379.
13韩绿化,毛罕平,严蕾,等.穴盘育苗移栽机两指四针钳夹式取苗末端执行器[J/OL].农业机械学报,2015,46(7):23-30.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20150704&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2015.07.004.HAN Lühua,MAO Hanping,YAN Lei,et al.Pincette-type end-effector using two fingers and four pins for picking up seedlings[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2015,46(7):23-30.(in Chinese)
14丁文芹,毛罕平,胡建平,等.穴盘苗自动移栽机的结构设计及运动仿真分析[J].农机化研究,2011,33(10):75-77,137.DING Wenqin,MAO Hanping,HU Jianping,et al.Structure design and simulation analysis on the plug seedlings autotransplanter[J].Journal of Agricultural Mechanization Research,2011,33(10):75-77,137.(in Chinese)
15冯青春,王秀,姜凯,等.花卉幼苗自动移栽机关键部件设计与试验[J].农业工程学报,2013,29(6):21-27.FENG Qingchun,WANG Xiu,JIANG Kai,et al.Design and test of key parts on automatic transplanter for flower seedling[J].Transactions of the CSAE,2013,29(6):21-27.(in Chinese)
16杨扬,曹其新,盛国栋,等.基于机器视觉的育苗穴盘定位与检测系统[J/OL].农业机械学报,2013,44(6):232-235.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20130640&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2013.06.040.YANG Yang,CAO Qixin,SHENG Guodong,et al.Plug tray localization and detection system based on machine vision[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2013,44(6):232-235.(in Chinese)
17杨振宇,张文强,李伟,等.基于单目视觉的移栽钵苗叶片朝向的调整方法[J].农业工程学报,2014,30(14):26-33.YANG Zhenyu,ZHANG Wenqiang,LI Wei,et al.Monocular vision-based method for direction adjustment of transplanting pottedseedling leaves[J].Transactions of the CSAE,2014,30(14):26-33.(in Chinese)
18孙国祥,汪小旵,何国敏.基于边缘链码信息的番茄苗重叠叶面分割算法[J].农业工程学报,2010,26(12):206-211.SUN Guoxiang,WANG Xiaochan,HE Guomin.Segmentation algorithm of overlapping tomato seedling leaves based on edge chaincode information[J].Transactions of the CSAE,2010,26(12):206-211.(in Chinese)
19韩绿化,毛罕平,缪小花,等.基于穴盘苗力学特性的自动取苗末端执行器设计[J/OL].农业机械学报,2013,44(11):260-265.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20131144&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2013.11.044.HAN Lühua,MAO Hanping,MIAO Xiaohua,et al.Experiment on mechanical property of seedling pot for automatic transplanter[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2013,44(11):260-265.(in Chinese)
20张丽华,邱立春,田素博,等.指针夹紧式穴盘苗移栽爪设计[J].沈阳农业大学学报,2010,41(2):235-237.ZHANG Lihua,QIU Lichun,TIAN Subo,et al.Design of a needle clamping claw for plug seedling transplanting[J].Journal of Shenyang Agricultural University,2010,41(2):235-237.(in Chinese)
21童俊华,蒋焕煜,蒋卓华,等.钵苗自动移栽机器人抓取指针夹持苗坨参数优化试验[J].农业工程学报,2014,30(16):8-16.TONG Junhua,JIANG Huanyu,JIANG Zhuohua,et al.Experiment on parameter optimization of gripper needles clamping seedling plug for automatic transplanter[J].Transactions of the CSAE,2014,30(16):8-16.(in Chinese)
22金鑫,杜新武,杨传华,等.蔬菜移栽穴盘苗自动输送装置设计与试验[J/OL].农业机械学报,2016,47(7):103-111.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20160715&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2016.07.015.JIN Xin,DU Xinwu,YANG Chuanhua,et al.Design and experiment on automatic transporting mechanism for vegetable potted seedlings[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2016,47(7):103-111.(in Chinese)
23赵雄,王川,杨茂祥,等.非圆齿轮行星轮系自动取苗机构逆向设计分析[J].农业工程学报,2015,31(6):30-36.ZHAO Xiong,WANG Chuan,YANG Maoxiang,et al.Reverse design and analysis of automatic seedling pick-up mechanism with non-circular gear planetary train[J].Transactions of the CSAE,2015,31(6):30-36.(in Chinese)
24俞高红,俞腾飞,叶秉良,等.一种旋转式穴盘苗取苗机构的设计[J].机械工程学报,2015,51(7):67-76.YU Gaohong,YU Tengfei,YE Bingliang,et al.Design of a rotary plug seedling pick-up mechanism[J].Journal of Mechanical Engineering,2015,51(7):67-76.(in Chinese)
25 HU Jianping,YAN Xiaoyue,MA Jun.Dimensional synthesis and kinematics simulation of a high-speed plug seedling transplanting robot[J].Computers and Electronics in Agriculture,2014,107(3):64-72.
26童俊华,蒋焕煜,周鸣川.基于遗传算法的穴盘苗自动移钵路径优化[J/OL].农业机械学报,2013,44(4):45-49.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20130408&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2013.04.008.TONG Junhua,JIANG Huanyu,ZHOU Mingchuan.Optimization of seedling transplanting path based on genetic algorithm[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2013,44(4):45-49.(in Chinese)
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