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Design and test of tray-seedling sorting transplanter

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International Journal of Agricultural and Biological engineering 2015年第2期8卷 14-20页

作者： Feng Qingchun Zhao Chunjiang Jiang Kai Fan Pengfei Wang Xiu beijing research center of intelligent equipment for Agriculture Beijing 100097China

In order to improve the automatic sorting and transplanting of tray-seedling and reduce labors strength,a new sorting transplanter was *** to the feature of normal seedling tray and manual grading method,the mechanical sorting procedure was *** key parts of sorting transplanter are as follows:an efficient transfer mechanism with aerodynamic buffer,a seedling identifying and measuring unit based on linear-structured vision,the extendible multi-grasper with wireless technology and the system *** experiments were conducted and showed that the transplanting success rate was 90.0% on the tray of 6×12 holes under the speed of 700 cycles per *** vision unit’s failed identifying rate for the superior pepper seedlings on five different trays was less than 10%,and the measurement error of seedling height was about 5 mm.

关键词： transplanter tray seedling sorting grasper machine vision wireless technology

Shortwave infrared hyperspectral imaging for detection of pH value in Fuji apple

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International Journal of Agricultural and Biological engineering 2014年第2期7卷 130-137页

作者： Guo Zhiming Huang Wenqian Chen Liping Peng Yankun Wang Xiu beijing research center of intelligent equipment for Agriculture Beijing Academy of Agriculture and Forestry SciencesBeijing 100097China College of engineering China Agricultural UniversityBeijing 100097China National engineering research center of intelligent equipment for Agriculture Beijing 100097China

pH value is regarded as one of the most important attributes that affect sensory characteristics and edible quality of *** objective of the research was to explore the feasibility of applying shortwave infrared hyperspectral imaging system to detect the pH value of apple.A shortwave infrared hyperspectral imaging system was developed over the wavelength region of 1000-2500 nm and used to acquire hyperspectral images of apple *** reflectance calibration,mean reflectance spectral was calculated by averaging the intensity of all pixels within the roundness region of interest(ROI).Synergy interval partial least squares(siPLS)algorithms as an effective multivariable method was conducted on the calibration of regression model to estimate the pH value in Fuji *** performance of the final model was back-evaluated according to root mean square error of calibration(RMSEC)and correlation coefficient(Rc)in calibration set,and tested in prediction *** optimal prediction siPLS model was obtained with correlation coefficient(Rp)of 0.8474 and mean square error of prediction(RMSEP)of *** results indicated that shortwave infrared hyperspectral imaging combined with siPLS chemometrics could be an accurate and fast method for nondestructive prediction of pH value in Fuji apple.

关键词： shortwave infrared hyperspectral imaging synergy interval partial least squares pH value apple

Droplets movement and deposition of an eight-rotor agricultural UAV in downwash flow field

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International Journal of Agricultural and Biological engineering 2017年第3期10卷 47-56页

作者： Tang Qing Zhang Ruirui Chen Liping Xu Min Yi Tongchuan Zhang Bin 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

The movement and deposition of the droplets sprayed by agricultural unmanned aerial vehicle(UAV)are influenced by the complex downwash flow field of the *** of conducting field experiment,a high speed particle image velocimetry(PIV)method was used to measure the movement and deposition of the droplets at different rotating speeds of rotors(1000-3000 r/min)or at different transverse injecting points(20-50 cm away from its nearby rotors)in the downwash flow field of an agricultural UAV with eight rotors and conical *** maximum speed and size of the high speed zone of the droplets were found greatly influenced by the downwash *** initial spray angle of the nozzle declined with the increase of downwash flow *** was found that the downwash velocity could not only change the deposition zone of the droplets,but also influence their *** increase of the downwash velocity would increase the deposition uniformity of the *** nozzle position in the downwash flow field could also influence the deposition of the *** the transverse distance between the nozzle and its nearby rotors increased,the relative deposition near the downwash flow of the rotors increased ***,the distance between the deposition peak and the nozzle stayed *** initial spray angle of the nozzle was not influenced by the transverse distance between the nozzle and its nearby *** research results could provide a theoretical basis and reference for the optimization of the spray application of multi-rotor UAV to minimize droplets deposition uncertainty.

关键词： chemical spray droplet deposition UAV flow field multi-rotor

Design and evaluation of a maize monitoring system for precision planting

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International Journal of Agricultural and Biological engineering 2018年第4期11卷 186-192页

作者： Yanxin Yin Liping Chen Zhijun Meng Bin Li Changhai Luo Weiqiang Fu Hebo Mei Wuchang Qin beijing research center of intelligent equipment for Agriculture Beijing Academy of Agriculture and Forestry SciencesBeijing 100089China National research center of intelligent equipment for Agriculture Beijing 100089China beijing Key Laboratory of intelligent equipment technology for Agriculture Beijing 10089China

To increase the accuracy and real-time performance of on-line assessment of maize planting,a CAN bus based maize monitoring system for precision planting was designed and tested both in laboratory and *** system was mainly comprised of:(a)seeding rate sensors based on opposite-type infrared photoelectric cell for counting the dropping seeds;(b)a decimeter GPS receiver for acquiring planter position and operation speed;(c)a vehicle monitoring terminal based on ARM Cotex-m4 core chip to acquire and process the whole-system data;(d)a touchscreen monitor to display the planter performance for the operator;and(e)a buzzer alarm to sound a warning when skip and double seeding *** the applicability,dependability and feasibility of the monitoring system into consideration,the opposite-type infrared photoelectric sensors were selected and their deployment strategies in the 6-port seed tube were *** decrease the average response time,a distributed information communication structure was *** this information communication mode,collectors were designed for each individual sensor and communicated with sensors through two-wire CAN bus.A sensor together with the designed collector is called a sensor node,and each of them worked individually and took the responsibility for acquiring,processing,and transiting the on-going *** test results showed that the random error distribution was approximately normal,and by liner analysis,the system observed value and the true value had as a liner relationship with coefficient of determination R^(2)=*** of field tests showed that the seeding rate maximum relative error of the 6-port seed tube was 2.92%,and the maximum root mean square error(RMSE)was about 1.64%.The monitoring system,including sensor nodes,vehicle monitoring terminal and a touch-screen monitor,was proved to be dependable and stable with more than 14 d of continuous experiments in field.

关键词： maize precision planting monitoring system seeding rate on-line assessment CAN bus

Effects of drought stress on photosynthesis and chlorophyll fluorescence images of soybean(Glycine max)seedlings

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International Journal of Agricultural and Biological engineering 2018年第2期11卷 196-201页

作者： Wensen Wang Cheng Wang Dayu Pan Yakun Zhang Bin Luo Jianwei Ji College of Information and Electrical engineering Shenyang Agricultural UniversityShenyang 110866China beijing research center of intelligent equipment for Agriculture Beijing 100097China National research center of intelligent equipment for Agriculture Beijing 100097China beijing Key Laboratory of intelligent equipment technology for Agriculture Beijing 100097China

The main purpose of this research is to provide a theoretical foundation for the screening of drought-resistant soybean varieties and to establish an efficient method to detect the PSII actual photochemical quantum yields *** soybean varieties were compared in this experiment after 15 d when they were planted in a *** varieties were then exposed to light drought stress(LD)and serious drought stress(SD)*** five times’measurement,chlorophyll fluorescence and soil-plant analysis development considered as the main basis for this *** parameters in SD conditions significantly reduced,such as net photosynthetic rates(Pn),stomatal conductance(Gs),PSII primary light energy conversion efficiency(Fv/FM),PSII actual photochemical quantum yields[Y(II)],photochemical quenching coefficient(qP)and non-photochemical quenching coefficient(qN).The soybeans in the seedling stage adapted to the inhibitory effect of drought stress on photosynthesis through stomatal *** serious drought stress,non-stomatal limitation damaged the plant photosynthetic *** amplitudes of Pn and Y(II)of drought-resistant Qihuang 35 were lower than those of the two other *** on the data of this study,a new method had been developed to detect Y(II)which reflected the photosynthetic capacity of plant,R=0.85989,u=0.048803 when using multiple linear regression,and R=0.84285,u=0.054739 when using partial least square regression.

关键词： soybean seedling drought stress photosynthetic parameters chlorophyll fluorescence parameters chlorophyll fluorescence images

Design of structured-light vision system for tomato harvesting robot

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International Journal of Agricultural and Biological engineering 2014年第2期7卷 19-26页

作者： Feng Qingchun Cheng Wei Zhou Jianjun Wang Xiu beijing research center of intelligent equipment for Agriculture Beijing 100097China Zhejiang University of technology Hangzhou 100085China

In order to improve the operating precision of the harvesting robot,a vision system for intelligently identifying and locating the mature tomato was *** active detection method based on structured-light stereo vision was expected to deal with the problem of variable illumination and target occlusion in the *** maximum between-cluster variances of hue(H)and saturation(S)value were adopted as the threshold for color segmentation,which weakened the impact on the image caused by the light intensity *** the limit on the pixel size and circularity of the candidate areas,the vision system recognized the fruit area and removed the noise *** fruit’s 3D position was computed on the basis of spatial relationship between the laser plane and the camera,when the linear laser was projected on the centre area of the mature *** blue view-scanning laser stripe pixels on the mature fruit were extracted according to its Cb color *** the field test results show,the measurement error on the fruit radius is less than 5 mm,the centre distance error between the fruit and camera is less than 7 mm,and the single axis coordinate error is less than 5.6 *** structured-light vision system could effectively identify and locate mature fruit.

关键词： harvesting robot tomato linear structure-light 3D measurement feature extraction

Design and experiment on scion cutting mechanism of grafting robot for cucurbit

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International Journal of Agricultural and Biological engineering 2020年第5期13卷 99-106页

作者： Liping Chen Kai Jiang Qian Zhang Wenzhong Guo Wengang Zheng beijing research center of intelligent equipment for Agriculture Beijing 100097China beijing research center of Information technology for Agriculture Beijing 100097China

The scion cutting mechanism of the traditional grafting machine cannot correct the bending degree of the scion seedling stem so that the cutting angle of the scion seedling is not standard and the survival rate of the grafted seedling is *** this study,cucumber seedlings and watermelon seedlings were taken as experimental *** on the analysis of the geometric parameters and mechanical characteristics of scion seedlings,a scion cutting mechanism with holding seedling applied to cucumber seedlings and watermelon was designed and *** main structure and operating parameters of V-shaped holding seedling block and cutting unit were determined,and holding seedling and cutting performance tests were carried *** test results showed that compared with the common arc clamp,the V-shaped holding seedling block had a better guiding and centering effect on the scion seedling,could better correct the bending state of the scion seedling stem,and the success rate of holding seedling of the V-shaped holding block reached 98.33%,which was increased by 13.33%compared with the arc-shaped clamp,and the seedling injury rate was only 1.67%.The upper and lower two-point positioning of scion stem by clamping hand and holding seedling block can improve the cutting performance *** cutting accuracy rate of the scion was 97.75%,and the cutting success rate was 98.67%.The cutting performance was closely related to the holding seedling *** research results can provide a reference for the design of cutting mechanisms of melon grafting robots.

关键词： grafting robot cutting mechanism holding seedling block scion seedlings cucurbit

Design and optimization on rootstock cutting mechanism of grafting robot for cucurbit

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International Journal of Agricultural and Biological engineering 2020年第5期13卷 117-124页

作者： Kai Jiang Qian Zhang Liping Chen Wenzhong Guo Wengang Zheng beijing research center of intelligent equipment for Agriculture Beijing 100097China beijing research center of Information technology for Agriculture Beijing 100097China

Cutting mechanisms in existing grafting machines are unable to completely cut through the rootstock growth point and can easily damage *** the mechanical operation of splice grafting,the cutting angle of the rootstock is an essential factor for ensuring the quality and survival rate of grafting seedlings and a stable process for grafting ***,in this study,commonly used grafting rootstocks,e.g.,cucurbita moschata,and calabash gourd were used as research objects for studying and analyzing the cutting angle of a splice grafting *** morphological and structural parameters of the rootstock and scion were measured,and a structural model of the internal cavity of the rootstock was constructed using an image analysis *** critical cutting angles for the cucurbita moschata and calabash gourd seedlings were *** to the analysis,the grafting cutting angles for cucumber seedlings matching with cucurbita moschata seedlings were 20°and 25°,respectively,and the fitting rate of the cutting surface of the rootstock and scion was 99.04%.A cutting mechanism for the rootstock growth point and geometric model of the cutting operation were established,and the structural parameters of the mechanism and cutting angle adjustment were optimized.A cutting performance test showed that the success rate of the pressing the cotyledons of cucurbita moschata seedlings was 96.67%,and the success rate of cutting was 98%.The cutting accuracy was 96.8%,and the cutting surface fitting rate of the rootstock and scion was 98.61%.The latter differed by 0.43%from the theoretical rate but met the requirements for the splice grafting ***,this study can provide a reference for the design of a cutting mechanism for a grafting robot.

关键词： grafting robot rootstock cavity cutting angle matched grafting parameter optimization cucurbit

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