Authors

Abstract

Automatic transplanting of plug seedlings is critical for improving agricultural efficiency. However, existing systems often suffer from functional fragmentation and use rigid end-effectors prone to damaging seedlings. This study presents a fully integrated automatic transplanting system that uniquely combines multi-tray storage and conveying, precise step-moving, manipulator-based picking and placing with a novel flexible end-effector, and automatic tray collection. Experiments with pepper seedlings demonstrated a picking success rate of 97.14% and damage rate of 1.21% under standalone control, while the integrated system achieved a picking success rate of 93.24% and a damage rate of 1.43%, with a maximum conveying positioning deviation of 1.79 mm. This research provides a practical, highly integrated solution with low seedling damage suitable for small-to-medium scale nurseries.

Abstract in Chinese

全自动穴盘苗移栽对于提高农业效率至关重要。然而，现有系统常存在功能碎片化问题，且使用易损伤幼苗的刚性末端执行器。本研究提出了一种全自动移栽系统，创新地集成了多盘存储与输送、精确步进定位、基于机械手的移栽（配备新型柔性末端执行器）以及空盘自动收集。辣椒幼苗的田间试验结果表明，在独立控制下，取苗成功率达97.14%，损伤率为1.21%；在集成系统中，成功率为93.24%，损伤率为1.43%，输送精度偏差在1.79 mm以内。本研究提供了一种实用、高度集成且幼苗损伤低的解决方案，适用于中小型苗圃。