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Walking Goal Line Detection Based on DM6437 on harvesting robot

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Walking Goal Line Detection Based on DM6437 on Harvesting Ro...

Design and experimental study of the end-effector for broccoli harvesting

Computer and Computing Technologies in Agriculture V——5th IFIP TC 5/SIG 5.1 Conference(CCTA 2011) Part Ⅲ

作者： Gang Wu Yu Tan Yongjun Zheng Shumao Wang College of Engineering China Agricultural University

As to aided driving by harvesting robot,there is the large amount of image data processing,meanwhile,harvesting robot requires real-time image processing and to calculate the linear parameters in a straight line detection of the walking target *** paper presents a hardware processing platform to TMS320DM6437 digital signal processor as the core processing chip,and an improved Hough transform algorithm which is based on a determined point is proposed to complete line detection.A camera is to be fitted on the left top of the combine harvester in order to capture images of farmland scenes in the process of *** first,according to different color characteristics of harvested areas and non-harvested areas,improved methods of Maximum entropy threshold segmentation and morphological approach are employed to determine candidate points of walking goal *** the candidate points are selected as the point ***,the improved Hough transform based on a determined point is applied to complete line *** algorithm simplifies binary map to unitary *** with the traditional Hough transform,it saves computing time,and reduces the parameter space *** multiple images processing,tests show that this detection method can detect real-time parameters of harvesting robot's walking goal line,and the algorithm is well proved with respect to its speed,anti-interference and accuracy.

关键词： TMS320DM6437 harvesting robot Line Detection Hough Transform

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International Journal of Agricultural and Biological Engineering 2024年第1期17卷 137-144页

作者： Xiong Zhao Gangji Xu Pengfei Zhang Gaohong Yu Yadan Xu Faculty of Mechanical Engineering Zhejiang Sci-Tech UniversityHangzhou 310018China Key Laboratory of Transplanting Equipment and Technology of Zhejiang Province Hangzhou 310018China Hangzhou vocational&Technical College Hangzhou 310018China

The end-effector is an important part of the broccoli harvesting *** at the physical characteristics of a large broccoli head and thick stem,a spherical cutting tool broccoli harvesting end-effector was designed in this ***,the physical characteristics of broccoli were tested,and physical parameters such as the broccoli head diameter and stem diameter of broccoli were *** maximum cutting force of broccoli stems under different cutting angles was ***,according to the physical characteristics and harvesting process of broccoli,the end-effector was designed,and the mathematical model of kinematics and dynamics was *** on the results of dynamic analysis,the end-effector rod was optimized,and the unilateral width of the slider was 40 mm,the length of the connecting rod was 120 mm,and the length of the crank was 42 *** mechanism needed an external driving force of 140.54 N to cut the broccoli ***,a 32 mm cylinder with a load rate of 50%was selected as the power ***,the feasibility of the broccoli harvesting end-effector was verified by the harvesting *** showed that the overall harvesting success rate of the end-effector is 93.3%,and the smoothness rate of the stem section is 83.3%.The harvesting performance of the broccoli end-effector was *** lays a foundation for agricultural robots to harvest broccoli.

关键词： harvesting robot broccoli end-effector dynamic analysis mechanism optimization

Recognition and localization system of the robot for harvesting Hangzhou White Chrysanthemums

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International Journal of Agricultural and Biological Engineering 2018年第2期11卷 88-95页

作者： Qinghua Yang Chun Chang Guanjun Bao Jun Fan Yi Xun Key Laboratory of E&M(Zhejiang University of Technology) Ministry of Education&Zhejiang ProvinceHangzhou 310032China

To realize the robotic harvesting of Hangzhou White Chrysanthemums,the quick recognition and 3D vision localization system for target Chrysanthemums was investigated in this *** system was comprised of three main ***,an end-effector and a simple freedom manipulator with three degrees were designed to meet the quality requirements of harvesting Hangzhou White ***,a segmentation based on HSV color space was performed.A fast Fuzzy C-means(FCM)algorithm based on S component was proposed to extract the target image from irrelevant ***,binocular stereo vision was used to acquire the target spatial *** to the shape of Hangzhou White Chrysanthemums,the centroids of stamens were selected as feature points to match in the right and left *** experimental results showed that the proposed method was able to recognize Hangzhou White Chrysanthemums with the accuracy of 85%.When the distance between target and baseline was 150-450 mm,the errors between the calculated and measured distance were less than 14 mm,which could meet the requirements of the localization accuracy of the harvesting robot.

关键词： Hangzhou White Chrysanthemums harvesting robot recognition localization Fuzzy C-means(FCM) binocular vision stereo matching

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Pneumatic bio-soft robot module:Structure,elongation and experiment

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International Journal of Agricultural and Biological Engineering 2017年第2期10卷 114-122页

作者： Bao Guanjun Yao Pengfei Xu Zonggui Li Kun Wang Zhiheng Zhang Libin Yang Qinghua College of Mechanical Engineering Zhejiang University of TechnologyHangzhou 310014China

Soft robotics,often taking inspirations from biomimetics,is an exciting novel research field and has great capability to work with creatures.A new type of bio-soft robot inspired by elephant trunk and octopus was proposed,which has a promising application in robotic agricultural *** two modularized structures,basal segment and caudal segment,were elaborated in *** both have three side chambers and one central chamber,which are reinforced by springs for better stretch performance in axial direction without radial *** the chambers can act as drivers when inflated with compressed *** importantly,the central chamber was designed for regulating the stiffness of the robot module as needed in *** primary static model for axial elongation was established for the fundamental analysis of the bio-soft robot module’s features,such as iso-force,isobaric and isometric *** and experimental results showed that the motion of the proposed bio-soft module has approximate linearity in iso-force and isobaric conditions,and strict linearity in isometric condition.

关键词： bio-soft robot pneumatic muscle actuator static model harvesting robot

Design and simulation of an integrated end-effector for picking kiwifruit by robot

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Information Processing in Agriculture 2020年第1期7卷 58-71页

作者： Longtao Mu Gongpei Cui Yadong Liu Yongjie Cui Longsheng Fu Yoshinori Gejima College of Mechanical and Electronic Engineering Northwest A&F UniversityYanglingShaanxi 712100China China Aviation Lithium Battery Research Institute Co. LtdChangzhouJiangsu 213200China Key Laboratory of Agricultural Internet of Things Ministry of Agriculture and Rural AffairsYanglingShaanxi 712100China Shaanxi Key Laboratory of Agricultural Information Perception and Intelligent Service YanglingShaanxi 712100China Faculty of Agriculture University of MiyazakiMiyazaki 8892192Japan

The harvesting of fresh kiwifruit is a labor-intensive operation that accounts for more than 25%of annual production *** harvesting technologies are thus being developed to reduce labor requirements for harvesting *** improve the efficiency of a harvesting robot for picking kiwifruit,we designed an end-effector,which we report herein along with the results of tests to verify its *** using the established method of automated picking discussed in the literature and which is based on the characteristics of kiwifruit,we propose an automated method to pick kiwifruit that consists of separating the fruit from its stem on the *** method is experimentally verified by using it to pick clustered kiwifruit in a scaffolding canopy *** the experiment,the end-effector approaches a fruit from below and then envelops and grabs it with two bionic *** fingers are then bent to separate the fruit from its *** grabbing,picking,and unloading processes are integrated,with automated picking and unloading performed using a connecting rod linkage following a trajectory *** trajectory was analyzed and validated by using a simulation implemented in the software Automatic Dynamic Analysis of Mechanical Systems(ADAMS).In addition,a prototype of an end-effector was constructed,and its bionic fingers were equipped with fiber sensors to detect the best position for grabbing the kiwifruit and pressure sensors to ensure that the damage threshold was respected while *** for size and shape were incorporated by following a trajectory groove from grabbing and picking to *** end-effector separates clustered kiwifruit and automatically grabs individual *** takes on average 4–5 s to pick a single fruit,with a successful picking rate of 94.2%in an orchard test featuring 240 *** study shows the grabbing–picking–unloading robotic end-effector has significant potential to facilitate the harvesting of kiwif

关键词： Kiwifruit End-effector harvesting robot Trajectory model Simulation analysis

Design and test of robotic harvesting system for cherry tomato

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International Journal of Agricultural and Biological Engineering 2018年第1期11卷 96-100页

作者： Qingchun Feng Wei Zou Pengfei Fan Chunfeng Zhang Xiu Wang Beijing Research Center of Intelligent Equipment for Agriculture Beijing Academy of Agriculture and Forestry SciencesBeijing 100097China National Research Center of Intelligent Equipment for Agriculture Beijing 100097China Beijing Key Laboratory of Intelligent Equipment Technology for Agriculture Beijing 100097China

harvesting of fresh-eating cherry tomato was highly costly on labor and *** order to achieve mechanical harvesting for the fresh-eating tomato,a new harvesting robot was designed,which consisted of a stereo visual unit,an end-effector,manipulator,a fruit collector,and a railed *** robot configuration and workflow design focused on the special cultivating *** key parts were introduced in detail:a railroad vehicle capably moving on both ground and rail was adopted as the robot’s carrier,a visual servo unit was used to identify and locate the mature fruits bunch,and the end-effector to hold and separate the fruit bunch was designed based on the stalk’s mechanical *** field test of the new developed robot was conducted and the results were *** successful harvest rate of the robot was 83%,however,each successful harvest averagely needed 1.4 times attempt,and a single successful harvesting cycle cost 8 s excluding the time cost on moving.

关键词： cherry tomato harvesting robot visual servo configuration design field test