您好，欢迎访问中国农业科学院 机构知识库！

全部

  • 全部
  • 标题
  • 学者
  • 机构
  • 关键词

Development of a tomato harvesting robot used in greenhouse

文献类型： 外文期刊

作者： Wang Lili 1 ; Zhao Bo 2 ; Fan Jinwei 1 ; Hu Xiaoan 2 ; Wei Shu 2 ; Li Yashuo 2 ; Zhou Qiangbing 2 ; Wei Chongfeng 3 ;

作者机构： 1.Beijing Univ Technol, Coll Mech Engn & Appl Elect Technol, Agr Machinery Automat Detect & Control Robot Tech, Beijing 100124, Peoples R China

2.Chinese Acad Agr Mech Sci, State Key Lab Soil Plant Machine Syst Technol, Agr Mech, Beijing 100083, Peoples R China

3.Chinese Acad Agr Mech Sci, State Key

关键词： tomato harvesting robot;four-wheel independent steering;automatic navigation;binocular stereo vision system;obstacle avoidance;greenhouse

期刊名称：INTERNATIONAL JOURNAL OF AGRICULTURAL AND BIOLOGICAL ENGINEERING （ 影响因子：2.032； 五年影响因子：2.137 ）

ISSN： 1934-6344

年卷期： 2017 年 10 卷 4 期

页码：

收录情况： SCI

摘要： A tomato harvesting robot was developed in this study, which consisted of a four-wheel independent steering system, a 5-DOF harvesting system, a navigation system, and a binocular stereo vision system. The four-wheel independent steering system was capable of providing a low-speed steering control of the robot based on Ackerman steering geometry. The proportional-integral-derivative (PID) algorithm was used in the laser navigation control system. The Otsu algorithm and the elliptic template method were used for the automatic recognition of ripe tomatoes, and obstacle avoidance strategies were proposed based on the C-space method. The maximum average absolute error between the set angle and the actual angle was about 0.14 degrees, and the maximum standard deviation was about 0.04 degrees. The laser navigation system was able to rapidly and accurately track the path, with the deviation being less than 8 cm. The load bearing capacity of the mechanical arm was about 1.5 kg. The success rate of the binocular vision system in the recognition of ripe tomatoes was 99.3%. When the distance was less than 600 mm, the positioning error was less than 10 mm. The time needed for recognition of ripe tomatoes and pitching was about 15 s per tomato, with a success rate of about 86%. This study provides some insights into the development and application of tomato harvesting robot used in the greenhouse.

  • 相关文献

[1]Automatic Navigation System Research for PZ60 Rice Planter. Wei, Liguo,Wei, Liguo,Zhang, Xiaochao,Jia, Quan,Liu, Yangchun. 2015

[2]The design and implementation of an autonomous campus patrol robot. Xu, Fen,Li, ZhengXi,Yuan, Kui. 2007

[3]Cadmium Accumulation in Vegetable Plantation Land Soils under Protected Cultivation: A Case Study. Li, Lian-Fang,Zeng Xi-Bai,Bai Ling-Yu,Mei Xu-Rong,Yang Jia-Bo,Hu Liu-Jie. 2009

[4]Present situation and future development for protected horticulture in mainland China. Jiang, W. J.,Yu, H. J.. 2008

[5]Response of sap flux and evapotranspiration to deficit irrigation of greenhouse pear-jujube trees in semi-arid northwest China. Feng, Yu,Cui, Ningbo,Zhao, Lu,Feng, Yu,Cui, Ningbo,Zhao, Lu,Du, Taisheng,Feng, Yu,Gong, Daozhi,Cui, Ningbo,Hu, Xiaotao.

[6]Effectiveness of gaseous CO2 fertilizer application in China's greenhouses between 1982 and 2010. Ma Xin,Liu Shuang,Li Yue,Gao Qinzhu,Ma Xin,Liu Shuang,Li Yue,Gao Qinzhu. 2015

[7]Residue analysis and risk assessment of pyrethrins in open field and greenhouse turnips. Feng, Xiaoxiao,Pan, Lixiang,Zhang, Hongyan,Wang, Chen,Wang, Chen. 2018

[8]Effects of Nitrogen Rate on the Growth, Yield and Quality of Tomato in Greenhouse Fertilization with Biogas Slurry. Ning, X. J.,Yu, H. J.,Jiang, W. J.,Liu, X. R.. 2012

[9]The potential of four mite species (Acari: Phytoseiidae) as predators of sucking pests on protected cucumber (Cucumis sativus L.) crop. Sarwar, Muhammad,Xu Xuenong,Wang Endong,Wu Kongming. 2011

[10]Twenty years development of soilless culture in mainland China. Jiang, W. J.,Yu, H. J.. 2007

[11]Green asparagus close planting culture in solar greenhouse. Zhang, Zhi-Bin,He, Chao-Xing,Wang, Huaisong. 2007

[12]Development of eco-organic type soilless culture in mainland China. Jiang, WJ,Liu, W,Yu, HJ,Zheng, GH. 2004

[13]Prediction of C0_2 Emission from Soil for Optimal Greenhouse Control. Dong Hoon Lee,Kyou-Seung Lee,Chang-Hyun Choi,Hak-Jin Kim,Sun-Ok Chung,Yong-Jin Cho. 2011

[14]PRELIMIARY STUDY ON MONITORING AND CONTROLLING EXPERT SYSTEM FOR TOMATO GROWING IN GREENHOUSE. He Chaoxingl,Chen Shuangchen,Liu Zhiyong. 2003

[15]An Embedded System for Control of HydroponicNutrients. Woo Jae Cho,Hak-Jin Kim,Dae Hyun Jung,Dong Wook Kim,Chang Ik Kang,Gyeong Lee Choi. 2015

[16]Effects of Nitrogen Rate on the Growth, Yield and Quality of Tomato in Greenhouse Fertilization with Biogas Slurry. X.J. Ning,H.J. Yu,W.J. Jiang,X.R. Liu. 2012

[17]Minimal heating and cooling in a modern rose greenhouse. P. J. M. van Beveren,J. Bontsema,G. van Straten,E. J. van Henten. 2013

[18]PRELIMIARY STUDY ON MONITORING AND CONTROLLING EXPERT SYSTEM FOR TOMATO GROWING IN GREENHOUSE. He Chaoxing,Chen Shuangchen,Liu Zhiyong. 2004

作者其他论文 更多>>
置顶
购物车
反馈

© 京ICP备09089781号-29 主办单位：中国农业科学院

学术资源： 中国农业科学院 农业专业知识服务系统 农科联盟资源共建共享平台 中国农业科技文献与信息服务平台 中国农业期刊集成服务平台