1. A reliability analysis method for a self-adaptive ear height shifting-receiving type intelligent breeding system is characterized by comprising the following steps: the method comprises the following steps:

s1, three-dimensional modeling of the intelligent breeding system;

s2, determining different working conditions of the breeding system based on the orthogonal test;

s3, calculating the load under the complex working condition based on the dynamic simulation;

s4, statically analyzing and checking the intelligent breeding system;

and S5, analyzing the fatigue life of the system based on the stress curve correction.

2. The method for analyzing the reliability of the adaptive ear height shifting intelligent breeding system according to claim 1, wherein the method comprises the following steps: the three-dimensional modeling method of the intelligent breeding system of the step S1 comprises the following steps: the system uses SolidWorks software for modeling and is classified into five subsystems, namely a driving system (1), a lifting system (2), a spike poking system (3), a collecting and releasing system (4) and a detection system (5), wherein the driving system (1) is responsible for providing power for the advancing of the device; the lifting system (2) is responsible for lifting the arc platform and parts on the arc platform; the ear poking system (3) is responsible for clamping the nylon rope and poking the rice ears to pollinate; the retraction system (4) is responsible for retracting the nylon rope; the detection system (5) is responsible for detecting the environment of the rice field, the current condition is guaranteed to be suitable for pollination and the like, and the five systems are matched with each other to complete the auxiliary pollination work of the rice field.

3. The method for analyzing the reliability of the adaptive ear height shifting intelligent breeding system according to claim 2, wherein the method comprises the following steps: the method for determining different working conditions of the breeding system based on the orthogonal test in the step S2 comprises the following steps: when the system works in the paddy field, the test design is carried out through an orthogonal test, and the wind direction in the field mainly comprises four conditions of no wind, horizontal wind direction, vertical wind direction and mixed wind direction; the diameter of the rice ear is divided into d₁、d₂、d₃、d₄Four cases; the height of the straw is divided into l₁、l₂、l₃、l₄In the method, 16 different working conditions are selected according to different level combinations of various factors, the number of the working conditions is simplified while the test precision is ensured, and the dynamic simulation in Adams is facilitated subsequently, so that the maximum stress working condition is determined.

4. The method for analyzing the reliability of the adaptive ear height shifting intelligent breeding system according to claim 3, wherein the method comprises the following steps: the calculation method of the load under the complex working condition based on the dynamic simulation of the step S3 comprises the following steps: according to the method, Adams multi-body dynamics analysis is carried out on books with different working conditions obtained through the S2 orthogonal test, boundary constraint and driving are added into software, the constraint comprises a moving pair, a rotating pair and a fixed pair, and the constraint is required to be added for the moving pair and the rotating pair, in the invention, a STEP function is used as a driving function, and for a swing rod in a system, the optimum range of swing is as follows:

wherein alpha is_minIs the starting angle of the swing motor; alpha is alpha_maxIs the end angle of the swing motor; l is_minThe length of the rice ear of a single rice plant in the rice breeding field is the minimum value; l is_maxThe maximum value of the length of the rice ear of a single rice plant in the rice breeding field; r is the distance between the nylon rope and the infrared sensor, is a fixed value, and takes the value of 40 cm,

its drive function can be written as:

step(time，0，0，t₁，0)+step(time，t₁，0，t₂，α_min)+step(time，t₂，α_min，t₃，α_max)

wherein the function means that the oscillating device is between 0 and t₁Is not rotated for a time t₁To t₂During the time period, the swing motor rotates from 0 degree to alpha_minDegree from t₂To t₃During the time of the swing motor from alpha_minDegree of rotation to alpha_maxAnd repeating the steps, and finally completing the ear poking work, counting the load conditions in all the working conditions, summarizing, and selecting the maximum load so as to carry out statics simulation.

5. The method for analyzing the reliability of the adaptive ear height shifting intelligent breeding system according to claim 4, wherein the method comprises the following steps: the method for statics analysis and check of the intelligent breeding system in the step S4 comprises the following steps: extracting the maximum loads under different working conditions according to the step S3, performing simulation calculation in finite element analysis software, converting the model established in the step S1 into an x-t format, introducing the x-t format into ABAQUS, performing boundary constraint and load application on the ABAQUS, acquiring the maximum stress values of the intelligent breeding system under various complex working conditions in a post-processing interface through simulation calculation, and performing verification according to the material properties of the intelligent breeding system.

6. The method for analyzing the reliability of the adaptive ear height shifting intelligent breeding system according to claim 5, wherein the method comprises the following steps: the system fatigue life analysis based on stress curve correction of the step S5: analyzing the fatigue life of the system according to the result of the finite element statics solution in the step S4, firstly, determining the fatigue load borne by the system, which is already described in the step S3, secondly, determining the fatigue characteristics of the material, namely, researching and determining the S-N curve of the material, and finally, introducing the finite element statics analysis model in the step S4 into Fe-Safe software, so as to analyze the life of the key part of the device, wherein in the actual working condition, r is not necessarily-1, therefore, the influence of r on the S-N curve needs to be considered, and the expression of m and C after the influence is corrected is as follows:

m·logS+logN＝logC

wherein b is the fatigue strength index of the structure; sigma_bIs the strength limit of the system material; beta is a_rIs the effective stress concentration coefficient under asymmetric cycles.

Background

Rice is one of the main grain crops, and related researches on hybrid rice with wide adaptability and high yield are more. The existing breeding method consumes manpower and material resources, has low production efficiency, can not meet the requirements of modern seed production, has the defects of low integration level, easy damage and the like of the existing mechanical auxiliary device, and has low practical applicability.

Under the background, the method provides a self-adaptive ear height shifting type intelligent breeding system, ear shifting breeding work is carried out through self-adaptive ear height, and verification analysis of reliability and safety is carried out on the ear shifting breeding system by combining dynamic and static force and fatigue life analysis, so that the intelligent rice breeding system has great research significance.

Disclosure of Invention

The purpose of the invention is as follows: the invention aims to provide a system capable of carrying out mechanical supplementary pollination, which can automatically detect the environment of a rice field and carry out supplementary pollination.

The technical scheme is as follows: the invention provides a system capable of carrying out mechanical supplementary pollination, which comprises the following steps:

s1, three-dimensional modeling of the intelligent breeding system;

s2, determining different working conditions of the breeding system based on the orthogonal test;

s3, calculating the load under the complex working condition based on the dynamic simulation;

s4, statically analyzing and checking the intelligent breeding system;

and S5, analyzing the fatigue life of the system based on the stress curve correction.

Further, S1, the three-dimensional modeling book system of the intelligent breeding system uses SolidWbrks software for modeling, and can be classified into five subsystems, namely a driving system (1), a lifting system (2), a spike poking system (3), a collecting and releasing system (4) and a detection system (5). The driving system is used for providing power for the advancing of the device; the lifting system is responsible for lifting the arc platform and parts on the arc platform; the ear poking system is responsible for clamping the nylon rope and poking the rice ears to pollinate; the retraction system is responsible for retracting the nylon rope; the detection system is responsible for detecting the environment in the paddy field, guarantees that the current condition is suitable for pollination etc. five major systems cooperate each other, accomplish the supplementary pollination work in paddy field.

Further, S2 is based on the determination of different working conditions of the breeding system of the orthogonal test: when the system works in the rice field, the variety of actual working conditions of the breeding system is various due to different wind directions in the rice field and different thicknesses and heights of rice. Therefore, the test design is carried out through the orthogonal test, and the wind direction in the field mainly comprises four conditions of no wind, horizontal wind direction, vertical wind direction and mixed wind direction; the diameter of the rice ear is divided into d₁、d₂、d₃、d₄Four cases; the height of the straw is divided into l₁、l₂、l₃、l₄In the method, 16 different working conditions are selected according to different level combinations of various factors, the number of the working conditions is simplified while the test precision is ensured, and the dynamic simulation in Adams is facilitated subsequently, so that the maximum stress working condition is determined.

Further, S3 is based on calculation of the load under the complex condition of the dynamic simulation: adams multi-body dynamics analysis is carried out according to books with different working conditions obtained by the S2 orthogonal test, boundary constraints and driving are added into software, the constraints comprise a moving pair, a rotating pair and a fixed pair, and the constraints are required to be added for the moving pair and the rotating pair. In the present invention, a STEP function is used as the drive function. For the swing of the swing rod in the device, the optimum swing range is as follows:

wherein alpha is_minIs the starting angle of the swing motor; alpha is alpha_maxIs the end angle of the swing motor; l is_minThe length of the rice ear of a single rice plant in the rice breeding field is the minimum value; l is_maxThe maximum value of the length of the rice ear of a single rice plant in the rice breeding field; r is the distance between the nylon rope and the infrared sensor, and is a fixed value, and the value is 40 cm.

Its drive function can be written as:

step(time，0，0，t₁，0)+step(time，t₁，0，t₂，α_min)+step(time，t₂，α_min，t₃，α_max)

wherein the function means that the oscillating device is between 0 and t₁Is not rotated for a time t₁To t₂During the time period, the swing motor rotates from 0 degree to alpha_minDegree from t₂To t₃During the time of the swing motor from alpha_minDegree of rotation to alpha_maxAnd repeating the steps until the ear poking operation is finished. And (4) counting and summarizing the load conditions borne by all the working conditions, and selecting the maximum load so as to carry out statics simulation.

Further, S4 intelligent breeding system statics analysis check: and extracting the maximum loads under different working conditions according to the step of S3, and carrying out simulation calculation in finite element analysis software. And converting the model established in the step S1 into an x-t format, introducing the x-t format into ABAQUS, performing boundary constraint and load application on the ABAQUS, acquiring the maximum stress value of the intelligent breeding system under various complex working conditions in a post-processing interface through simulation calculation, and checking according to the material properties of the intelligent breeding system.

Further, S5 is based on stress curve corrected system fatigue life analysis: the fatigue life analysis of the system is performed based on the result of the finite element statics solution in the above S4, and the fatigue load applied to the system is first specified, which is described in the above S3. Secondly, the fatigue property of the material needs to be determined, namely the S-N curve of the material is researched and determined. And finally, importing the finite element statics analysis model in the S4 into Fe-Safe software, and analyzing the service life of the key part of the device. In practical operation, r is not necessarily-1, so the influence of r on the S-N curve needs to be considered, and the expression of m and C after correction is:

m·log S+log N＝log C

wherein b is the fatigue strength index of the structure; sigma_bIs the strength limit of the system material; beta is a_rIs the effective stress concentration coefficient under asymmetric cycles.

Has the advantages that: the method works under the optimal breeding time-space domain condition by the cooperation of various sensors (an infrared sensor, a wind direction sensor, a temperature and humidity sensor, a light intensity sensor and the like), can greatly improve the breeding efficiency, reduce the labor intensity, greatly help to improve the quality and the yield of the rice, and simultaneously verifies the reliability and the safety of the rice through dynamic and static analysis and fatigue life analysis.

Drawings

FIG. 1 is a flow chart of the method of the present invention;

FIG. 2 is a schematic structural diagram of the intelligent breeding system of the present invention.

Detailed Description

The reliability analysis method for the adaptive ear height shifting-accepting type intelligent breeding system mainly comprises the following steps:

s1, three-dimensional modeling of an intelligent breeding system:

the system uses SolidWorks software for modeling, and can be classified into five subsystems, namely a driving system 1, a lifting system 2, a spike poking system 3, a collecting and releasing system 4 and a detection system 5. The driving system 1 is used for providing power for the forward movement of the device; the lifting system 2 is responsible for lifting the arc platform and parts on the arc platform; the ear poking system 3 is responsible for clamping the nylon rope and poking the rice ears to pollinate; the retraction system 4 is responsible for retracting the nylon rope; the detection system 5 is responsible for detecting the environment in the paddy field, ensures that the current conditions are suitable for pollination and the like, and the five systems are matched with each other to complete the auxiliary pollination work in the paddy field.

S2, determining different working conditions of the breeding system based on the orthogonal test:

when the system works in the rice field, the variety of actual working conditions of the breeding system is various due to different wind directions in the rice field and different thicknesses and heights of rice. Therefore, the test design is carried out through the orthogonal test, and the wind direction in the field mainly comprises four conditions of no wind, horizontal wind direction, vertical wind direction and mixed wind direction; the diameter of the rice ear is divided into d₁、d₂、d₃、d₄Four cases; the height of the straw is divided into l₁、l₂、l₃、l₄In the method, 16 different working conditions are selected according to different level combinations of various factors, the number of the working conditions is simplified while the test precision is ensured, and the dynamic simulation in Adams is facilitated subsequently, so that the maximum stress working condition is determined.

S3, calculating the load under the complex working condition based on the dynamic simulation:

adams multi-body dynamics analysis is carried out according to books with different working conditions obtained by the S2 orthogonal test, boundary constraints and driving are added into software, the constraints comprise a moving pair, a rotating pair and a fixed pair, and the constraints are required to be added for the moving pair and the rotating pair. In the present invention, a STEP function is used as the drive function. For the swing of the swing rod in the system, the optimum swing range is as follows:

wherein alpha is_minFor swinging an oscillating motorThe starting angle of (c); alpha is alpha_maxIs the end angle of the swing motor; l is_minThe length of the rice ear of a single rice plant in the rice breeding field is the minimum value; l is_maxThe maximum value of the length of the rice ear of a single rice plant in the rice breeding field; r is the distance between the nylon rope and the infrared sensor, and is a fixed value, and the value is 40 cm.

Its drive function can be written as:

step(time，0，0，t₁，0)+step(time，t₁，0，t₂，α_min)+step(time，t₂，α_min，t₃，α_max)+

wherein the function means that the oscillating device is between 0 and t₁Is not rotated for a time t₁To t₂During the time period, the swing motor rotates from 0 degree to alpha_minDegree from t₂To t₃During the time of the swing motor from alpha_minDegree of rotation to alpha_maxAnd repeating the steps until the ear poking operation is finished. And (4) counting and summarizing the load conditions borne by all the working conditions, and selecting the maximum load so as to carry out statics simulation.

S4, statics analysis and checking of the intelligent breeding system:

and extracting the maximum loads under different working conditions according to the step of S3, and carrying out simulation calculation in finite element analysis software. And converting the model established in the step S1 into an x-t format, introducing the x-t format into ABAQUS, performing boundary constraint and load application on the ABAQUS, acquiring the maximum stress value of the intelligent breeding system under various complex working conditions in a post-processing interface through simulation calculation, and checking according to the material properties of the intelligent breeding system.

S5, analyzing the fatigue life of the system based on stress curve correction:

the fatigue life analysis of the system is performed based on the result of the finite element statics solution in the above S4, and the fatigue load applied to the system is first specified, which is described in the above S3. Secondly, the fatigue property of the material needs to be determined, namely the S-N curve of the material is researched and determined. And finally, importing the finite element statics analysis model in the S4 into Fe-Safe software, and analyzing the service life of the key part of the device. In practical operation, r is not necessarily-1, so the influence of r on the S-N curve needs to be considered, and the expression of m and C after correction is:

m·log S+log N＝log C

wherein b is the fatigue strength index of the structure; sigma_bIs the strength limit of the system material; beta is a_rIs the effective stress concentration coefficient under asymmetric cycles.