Obstacle avoidance transplanting method on Kinect visual processing  

作　　者：Xin Jin Ruoshi Li Jiangtao Ji Yanwei Yuan Mingyong Li 

机构地区：[1]College of Agricultural Equipment Engineering,Henan University of Science and Technology,Luoyang 471003,Henan,China [2]Collaborative Innovation Center of Machinery Equipment Advanced Manufacturing of Henan Province,Luoyan 471003,Henan,China [3]Chinese Academy of Agricultural Mechanization Sciences,Beijing 100020,China

出　　处：《International Journal of Agricultural and Biological Engineering》2021年第5期72-78,共7页国际农业与生物工程学报（英文）

基　　金：supported by the National Natural Science Foundation of China(Grant No.51875175);the Natural Science Foundation of Henan(Grant No.202300410124);the Key Research and Development Program of Guangdong Province(Grant No.2019B020222004);the Innovation Scientists and Technicians Talent Projects of Henan Provincial Department of Education(Grant No.19HASTIT021).

摘　　要：In modern facility agriculture,to improve the quality and efficiency of transplanting,the application of transplanting robots based on visual processing is becoming more and more widespread.In order to reduce the damage to plants during the transplanting process and reduce the damage rate of plant stems,leaves and substrates,a transplanting method based on Kinect visual processing combined with an inclined transplanting manipulator was proposed.In the research,the Kinect visual processing was used to obtain and process the seedling height information and leaf edge information,and the working coordinate system of the transplanting manipulator was established and applied to plan the obstacle avoidance path.Combined with the oblique manipulator,the obstacle avoidance transplanting method was proposed.Through the structural design and force analysis of the seedling transplanting device,the key parameters that affect the transplanting quality were obtained,and the optimal transplanting performance parameters were obtained through experiments.In the experiment,with the aid of the Kinect vision processing system,the designed obstacle avoidance transplanting manipulator had a leaf damage degree of 4.70%,a stem bending rate of 16.67%,substrate integrity of 83.45%and a transplanting quality parameter of 87.36%.The time for a single seedling transplanting was(8.32±0.40)s.The experiment result proves that the obstacle avoidance transplanting method based on Kinect visual processing can effectively reduce the damage to seedlings when ensuring the transplanting efficiency.

关 键 词：KINECT vision processing oblique-type TRANSPLANTING robot path planning OBSTACLE AVOIDANCE 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]