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Design and test of stem diameter inspection spherical robot
Quan LZ(权龙哲); Chen, Ci; Li, Yajun; Qiao, Yajing; Xi, Dejun; Zhang TY(张天宇); Sun WF(孙文峰)
Department工艺装备与智能机器人研究室
Source PublicationINTERNATIONAL JOURNAL OF AGRICULTURAL AND BIOLOGICAL ENGINEERING
ISSN1934-6344
2019
Volume12Issue:2Pages:141-151
Indexed BySCI
WOS IDWOS:000464947900018
Contribution Rank3
Funding OrganizationNational Key Research and Development Program of China ; Fund for the Returned Overseas Chinese Scholars of Heilongjiang Province ; Academic Backbone Foundation of NEAU
Keywordstem diameter inspection spherical robot binocular stereo vision Census transform
AbstractStem diameter is an important parameter in the process of plant growth which can indicate the growth state and moisture content of the plant, its automatic detection is necessary. Traditional devices have many drawbacks that limit their practical uses in general case. To solve those problems, a stem diameter inspection spherical robot was developed in this study. The particular mechanism of the robot has turned out to be suitable for performing monitoring tasks in greenhouse mainly due to its spherical shape, small size, low weight and traction system that do not produce soil compacting or erosion. The mechanical structure and hardware architecture of the spherical robot were described, the algorithm based on binocular stereo vision was developed to measure the stem diameter of the plant. The effectiveness of the prototype robot was confirmed by field experiments in a tomato greenhouse. The results showed that the machine measurement data was linearly correlated with the manual measurement data with R-2 of 0.9503. There was no significant difference for each attribute between machine measurement data and manual measurement data (sig>0.05). The results showed that this method was feasible for nondestructive testing of the stem diameter of greenhouse plants.
Language英语
WOS SubjectAgricultural Engineering
WOS KeywordSYSTEM ; PLANT
WOS Research AreaAgriculture
Funding ProjectNational Key Research and Development Program of China[2018YFD020080709] ; Fund for the Returned Overseas Chinese Scholars of Heilongjiang Province[LC2018019] ; Academic Backbone Foundation of NEAU[17XG01] ; National Key Research and Development Program of China[2018YFD020080709] ; Fund for the Returned Overseas Chinese Scholars of Heilongjiang Province[LC2018019] ; Academic Backbone Foundation of NEAU[17XG01]
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Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/24593
Collection工艺装备与智能机器人研究室
Corresponding AuthorSun WF(孙文峰)
Affiliation1.College of Engineering, Northeast Agricultural University, Harbin 150030, China
2.College of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou 310000, China
3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110000, China
Recommended Citation
GB/T 7714
Quan LZ,Chen, Ci,Li, Yajun,et al. Design and test of stem diameter inspection spherical robot[J]. INTERNATIONAL JOURNAL OF AGRICULTURAL AND BIOLOGICAL ENGINEERING,2019,12(2):141-151.
APA Quan LZ.,Chen, Ci.,Li, Yajun.,Qiao, Yajing.,Xi, Dejun.,...&Sun WF.(2019).Design and test of stem diameter inspection spherical robot.INTERNATIONAL JOURNAL OF AGRICULTURAL AND BIOLOGICAL ENGINEERING,12(2),141-151.
MLA Quan LZ,et al."Design and test of stem diameter inspection spherical robot".INTERNATIONAL JOURNAL OF AGRICULTURAL AND BIOLOGICAL ENGINEERING 12.2(2019):141-151.
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