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    • 茄果类蔬菜种苗高效嫁接机器人研制

    谢忠坚,辜松,初麒,黎波,范开钧, 杨艳丽,杨意,刘小耿

    Agricultural Engineering Technology（2020）

    Cited 15|Views19
    Abstract
    嫁接是一种绿色、环保、可持续的解决土传病害的方法,但是目前嫁接作业主要依靠人工进行,存在生产率低、作业质量不稳定、劳动强度大等问题.为提高嫁接作业生产率,降低作业劳动强度,二十多年来,很多国家相继开发自动嫁接技术,但现有嫁接机作业效率和人工比没有显著优势.该文旨在开发一款茄果类高速嫁接机.为提高嫁接作业生产率,该文采取如下措施:去冠幅砧木整盘自动上苗;同步多株嫁接;捡拾机械手将砧木取出、拉大间距后移至转运杯中进行多株同步嫁接作业;负压吸附上接穗苗.该嫁接机设计为双人上接穗苗作业模式,通过控制程序调整也可实施单人作业模式.对该茄果类高速嫁接机样机进行上苗试验及整机性能试验,试验结果表明,双人作业模式生产率可达2250株/h,单人作业模式生产率可达1542株/h,明显高于现有嫁接机,与人工嫁接作业生产率相比具有较大优势.目前,该嫁接机的作业能力超过了单人上苗的速度,但仍低于双人上苗速度,因此,对于双人上苗最大速度,通过对该嫁接机进行结构、作业方式的优化,嫁接机的生产率仍有提高空间.
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    • Pretraining has recently greatly promoted the development of natural language processing (NLP)
    • We show that M6 outperforms the baselines in multimodal downstream tasks, and the large M6 with 10 parameters can reach a better performance
    • We propose a method called M6 that is able to process information of multiple modalities and perform both single-modal and cross-modal understanding and generation
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    【要点】：该论文开发了一种茄果类高速嫁接机，提高了嫁接作业的生产率，降低了劳动强度。
    

    【方法】：通过自动上苗、同步多株嫁接、捡拾机械手和负压吸附等方法实现高效嫁接。
    

    【实验】：对嫁接机进行了上苗试验和整机性能试验，结果显示双人作业模式的生产率为2250株/小时，单人作业模式的生产率为1542株/小时，显著高于现有嫁接机，并与人工嫁接作业相比具有较大优势。目前嫁接机的作业能力超过了单人上苗速度，但低于双人上苗速度，仍有提高空间。