基于双目立体视觉的机械手移栽穴盘定位方法

为了解决自动化机械手移栽过程中穴盘放置偏斜和底部局部"凸起"而引起的移栽效果不理想的问题,为机械手提供穴盘精准坐标,对穴盘准确定位方法进行研究。首先,根据机械手移栽特点提出穴盘定位总体方法及图像获取手段。其次,利用单目相机获取的图像采用像素标记法和Radon变换法计算穴盘中心坐标和角度,完成穴盘平面定位。再次,对双目相机获取的图像采用SIFT(scale invariant feature transform)特征匹配的算法获得匹配点对坐标,并提出区域整合匹配点的方法。最后,利用整合的区域双目匹配点坐标配合相机标定结果重建匹配点的三维世界坐标,并且与穴盘平面定位结果相结合完成穴盘空间位置重构。试验结果表明,提出的穴盘定位方法能够真实地恢复穴盘空间姿态,中心像素横纵坐标相对误差分别在(-7,+7)和(-6,+7)像素内,角度检测值与实测值相对误差值在(-0.51°,+0.53°)内,利用SIFT特征匹配算法匹配双目图像,在2×4区域内对8对整合匹配点进行三维世界坐标重建,其中7个坐标的三个维度与测量值相对误差在2 mm内,1个坐标与测量值相对误差为4.6 mm内。该方法所应用的算法成熟,可以满足机械手移栽实际应用处理要求。     

日本水稻种植机械化技术的最新研究进展

该文介绍了日本水稻种植机械化技术的最新研究进展,包括水稻点播直播机械—枪管式水稻直播机、水稻长毡式育秧和插秧系统以及无人操纵高精度水稻插秧机的工作原理及特点。     

园林绿化施工中树林移植与养护问题的研究

移植是园林绿化种植施工中难度较大的栽植工程,费工费时,因此确保树木移植成活率就显得十分重要。而确保移植树木成活率重要的方法即树木移植后的养护工作,如何做好后期的养护工作是主要研究探讨的内容。     

Comparative Boron Nutritional Diagnosis for Olive Based on July and January Leaf Samplings

In this work, diagnosis of boron (B) nutritional status based on leaf B concentrations was compared for the most common leaf-sampling times for olive trees, January and July. For this purpose, field experiments were conducted over 4 years (2003–2006) in two rainfed olive groves located in Mirandela and Bragança, northeastern Portugal. Leaf samples were collected in January and July and analyzed for B by standard procedures. Fruit harvest occurred in December of each year. The crops followed typical alternate fruiting cycles. During the 4 years of the study, mean olive yields in the Bragança orchard fluctuated, yielding 3.6, 28.1, 5.5, and 22.7 kg tree^?1. Yield variation per individual tree was also great. In the Bragança orchard and in the 2004 harvest, yields ranged from 1.2 to 52.7 kg tree^?1. Leaf B concentrations also varied greatly between individual trees. In the Bragança orchard in the July sampling of 2004, values for individual trees varied from 12.2 and 23.7 mg B kg^?1. From a total of 16 scatterplots generated from the relationship between leaf B concentrations and olive yields, 10 significant linear relationships were established; six of them were related to July sampling dates and four were related to January dates. The number of significant linear relationships established between leaf B concentration and olive yield was used as a criterion of the accuracy of the B nutritional diagnosis, because this represented the lowest experimental variability. By using this criterion, the July sampling date proved as better for B nutritional diagnosis, although the difference from January sampling date was not sufficient to disregard this. Leaf B concentrations were consistently greater in July than in January. Averaged across the 4 years of the study in both orchards, the difference was 4.3 mg B kg^?1. This difference should be taken into account in the interpretation of leaf analysis results when B levels are close to the deficient critical concentration.     

Root system response of selected lowland Thai rice varieties as affected by cultivation method and potassium rate under alternate wetting and drying irrigation

ABSTRACT

Root system is an important factor for crop productivity under water- and nutrient-limited environments. A pot study was conducted to evaluate root system response of three Thai rice varieties (Pathumthani 1, RD57, RD41) under three cultivation methods (dry direct seeding [DDS], wet direct seeding [WDS], transplanting [TP]) and three levels of alternate wetting and drying irrigation (–5, –15, –30 kPa). A second pot experiment examined the effect of potassium (K) rates (0, 80, 120, 160 kg ha^–1) on root system response of the same varieties under DDS and TP subjected to alternate wetting and drying at –5 kPa. Pathumthani 1 was more tolerant to moisture stress; RD57 and RD41 showed an inconsistent response to moisture-deficit conditions. Rice plant under TP was more sensitive to moisture stress; rice plant performed better under DDS even at the highest soil moisture stress of –30 kPa. K application at the rate of 120 kg ha^–1 as basal under DDS was optimum for root system development of Pathumthani 1, while RD57 and RD41 had higher actual root length at the same K rate regardless of cultivation methods. Alternate wetting and drying up to –30 kPa could be safely applied for the three tested varieties. The performance of root system of Pathumthani 1 was better under DDS method of cultivation. K fertilization at 120 kg ha^–1 can be recommended as optimum rate under water-saving cultivation techniques for the three tested varieties.     

气候变化对新疆膜下滴灌花生适宜播期的影响

为探索气候变化条件下新疆不同区域膜下滴灌花生适宜播期,该研究利用北疆和南疆试验区实测地温数据与同期平均气温数据确定了花生播种前日平均地温与日平均气温之间的关系,并基于新疆51个气象站点1951—2020年气象资料,分析了气候变化条件下新疆不同产区膜下滴灌花生播期的变化规律。结果表明：播种前农田表层土壤温度与日平均气温呈较强的线性相关性,当春季连续5 d日平均气温维持在14.00和16.10℃时,同期表层土壤温度维持在12和15℃;播前连续5 d表层土壤温度维持在12℃时播种,东疆、南疆和北疆花生产区播期日序数多年平均值分别为106.94、108.53和121.09;播前连续5d表层土壤温度维持在15℃时播种,东疆、南疆和北疆花生产区播期日序数多年平均值分别为114.39、117.02和128.58;近70年新疆绿洲花生适播期平均日气温呈上升趋势,东疆、南疆和北疆地区花生适播期分别提前了1.44～1.75、1.13～1.43和1.05～1.88 d/10a;根据播前农田耕层土壤地温与播后根区土壤地温的变化规律,新疆膜下滴灌花生适宜播期,东疆花生产区比南疆早2 d左右,南疆比北疆早12 d...     

播期对机插晚稻甬优2640生长特性的影响

以籼粳杂交晚稻品种甬优2640为研究对象,于2012、2013年在金华市进行分播期机插晚稻试验,并结合气象资料,分析播期对晚稻生长特性及产量的影响,探讨该品种在机插栽培方式下在研究区的最迟适宜播期.结果表明：（1）随着播期推迟晚稻全生育期呈先缩短后延长的变化趋势,播种-齐穗天数在秋季冷空气影响早的年份表现为先缩短后延长,冷空气影响晚则表现为全生育期缩短;（2）甬优2640表现出杂种优势,最大产量达9964.5kg/hm2,最大群体颖花量达44512.5×104/hm2;（3）晚稻产量随着播期的推迟而降低,播期对结实率影响最大,结实率为产量变化的主要影响因素,播期对群体颖花量影响较小,对千粒重基本无影响;（4）晚稻孕穗抽穗期遇低温其育性降低,但具有一定的低温耐受能力,齐穗前25d内23℃负积温是结实率最敏感的低温因子,齐穗前23℃负积温≤16.6℃·d能够保障晚稻稳产;（5）以80％保证率下的23℃负积温≤16.6℃·d的终日日期作为安全齐穗期,机插晚稻甬优2640最迟适宜播种期为6月29日-7月2日.     

西湖龙井茶开采期影响因子及预报模型

基于西湖龙井茶主栽品种（龙井43和龙井群体种）开采期及气象资料,应用积温和逐步回归方法,分别构建西湖龙井茶的积温预报模型和逐步回归预报模型,并利用多元线性回归方法,对两个模型的预报结果进行集成,构建集合预报模型。结果表明：积温预报模型、逐步回归预报模型、集成预报模型均通过0.01水平的显著性检验;龙井43和龙井群体种的积温预报模型回代检验平均绝对误差（MAE）分别为3.6d和2.8d,2a试预报MAE分别为2.5d和1.0d;逐步回归预报模型的回代检验MAE分别为0.9d和1.4d,2a试预报MAE分别为1.6d和0.8d;集成预报模型的回代检验MAE分别为0.7d和1.1d,2a试预报MAE分别为1.3d和0.8d。3种预报模型对西湖龙井茶开采期预报均具有应用价值,集成预报模型较积温预报模型和逐步回归预报模型的预报效果更理想,具有实际生产指导作用。     

应用层次分析法计算分插机构优化目标的权重

分插机构优化是一个多目标、多参数优化问题。该文在分插机构可视化辅助分析优化平台上得到多组可行优化结果之后,为进一步评价出最优解,对评判方法中权值的求解方法进行了应用分析。将分插机构的12个优化目标中的10个作为评判方法的评价指标,分别应用层次分析法中的0～2三标度法和1～9标度法确定各评价指标的权值,即通过建立初始评判矩阵和比较矩阵,并通过一致性检验得到最终判断矩阵,继而得到所有目标的权重集,其结果分别为(0.6216,0.2450,0.0881,0.0302,0.0101,0.0033,0.0011,0.0004,0.0001,0.0001)和(0.6892,0.2233,0.0620,0.0175,0.0052,0.0017,0.0006,0.0003,0.0001,0.0001)。2组结果均与实际相符,1～9标度法结果精度更高。试验结果表明,应用AHP求解分插机构的优化目标权值是合理、客观、有效的。此方法可为一般农机多目标优化问题的权值求解起到一定的借鉴作用。     

Promotive and inhibitory effects of rice straw and cellulose application on rice plant growth in pot and field experiments

Abstract

Quantitative characterization of crusts is necessary to evaluate the crusting susceptibility of soils, to reveal the soil properties affecting soil crust development and, thus, to predict the occurrence of crusting. For the quantification of the morphological characteristics of soil surface crusts, the authors applied an image analyzing method to quantify the state of pores, in terms of apparent porosity, using vertical thin sections of the surface crust formed under simulated rainfall.