Lightweight and high-security laser-based cotton tip pruning robot  

作　　者：Xuan'ang Guo Ziyang Mao Zedong Shi Wei Lu 

机构地区：[1]School of Artificial Intelligence,Nanjing Agricultural University,Nanjing 210031,China

出　　处：《International Journal of Agricultural and Biological Engineering》2024年第4期98-108,共11页国际农业与生物工程学报（英文）

基　　金：supported in part by the Modern Agriculture Project of Jiangsu Province Science and Technology Plan Special Fund Project(Grant No.BE2022363);the Fundamental Research Funds for the Central Univerisities(Grant No.KYCXJC2024003);the Modern Agricultural Machinery Equipment and Technology Demonstration and Promotion Project of Jiangsu Province(Grant No.NJ2022-03).

摘　　要：Considering the current environmental pollution caused by chemical topping,plant damage caused by mechanical topping,and the high cost of manual topping,a laser-based cotton-tip pruning robot for field cotton was designed in this study.The main advantages of this robot include its safety,light weight,low cost,and environmental friendliness.First,the structural design,measurement,and corresponding control system design of the robot were realized.Subsequently,a precise laser control method based on Yolov5 cotton top identification and the inverse kinematic solution of parallel robot rapid positioning were examined.Subsequently,the optimal laser irradiation wavelength and duration were determined.Finally,a laser-topping experiment was conducted,and the overall accuracy and recall rates for cotton identification were 98.3%and 99.3%,respectively.The AP and mAP at the threshold value of 0.5 reached 99.3%and 78.8%,respectively.The maximum positioning error of the jacking system is 2.6 mm,and the repeated positioning error is within±1.2 cm,which meets the accuracy requirements of laser jacking.Blue-purple laser irradiation at 15 W and 405 nm for 22 s was the best topping scheme.Comparing the effects of cotton topping with and without manual topping,it can be seen that laser topping significantly improved the yield and quality.Combined with the photothermal response of the cotton topping,the feasibility of laser topping was verified both theoretically and experimentally.The laser-topping scheme proposed in this study exhibits high efficiency,environmental protection,and safety,as well as good application prospects.

关 键 词：laser topping parallel manipulator photothermal response object detection 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] S22[自动化与计算机技术—控制科学与工程]