Design of a Sweet Potato Transplanter Based on a Robot Arm
Traditional sweet potato transplanters have the problem of seedling leakage and can only accomplish one transplantation method at a time, which does not meet the requirements of complex planting terrain that requires multiple transplantation methods. Therefore, this paper proposes a design for a cra...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-10-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/11/19/9349 |
| _version_ | 1797516716406734848 |
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| author | Zhengduo Liu Xu Wang Wenxiu Zheng Zhaoqin Lv Wanzhi Zhang |
| author_facet | Zhengduo Liu Xu Wang Wenxiu Zheng Zhaoqin Lv Wanzhi Zhang |
| author_sort | Zhengduo Liu |
| collection | DOAJ |
| description | Traditional sweet potato transplanters have the problem of seedling leakage and can only accomplish one transplantation method at a time, which does not meet the requirements of complex planting terrain that requires multiple transplantation methods. Therefore, this paper proposes a design for a crawler-type sweet potato transplanting machine, which can accomplish a variety of transplanting trajectories and conduct automatic replanting. The machine has a transplanting piece and a replanting piece. The transplanting piece completes the transplanting action through a transplanting robot arm, and the replanting piece detects the transplanting status by deep learning. The mathematical model of the transplanting robot arm is built, and the transplanting trajectory is inferred from the inverse kinematics model of the transplanting robot. In the replanting piece, a target detection network is used to detect the transplanting status. The DBIFPN structure and the CBAM_Dense attention mechanism are proposed to improve the accuracy of the target detection of sweet potato seedlings. The experiment showed that the transplanting robot arm can transplant sweet potatoes in horizontal and vertical methods, and the highest transplanting qualification rate is 96.8%. Compared with the use of the transplanting piece alone, the leakage rate of the transplanting–replanting mechanism decreased by 5.2%. These results provide a theoretical basis and technical support for the research and development of sweet potato transplanters. |
| first_indexed | 2024-03-10T07:05:41Z |
| format | Article |
| id | doaj.art-53e231d3c3934d4f86dfe471f0ec36a6 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T07:05:41Z |
| publishDate | 2021-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-53e231d3c3934d4f86dfe471f0ec36a62023-11-22T15:51:26ZengMDPI AGApplied Sciences2076-34172021-10-011119934910.3390/app11199349Design of a Sweet Potato Transplanter Based on a Robot ArmZhengduo Liu0Xu Wang1Wenxiu Zheng2Zhaoqin Lv3Wanzhi Zhang4College of Mechanical and Electronic Engineering, Shandong Agricultural University, Taian 271018, ChinaCollege of Mechanical and Electronic Engineering, Shandong Agricultural University, Taian 271018, ChinaCollege of Mechanical and Electronic Engineering, Shandong Agricultural University, Taian 271018, ChinaShandong Provincial Key Laboratory of Horticultural Machinery and Equipment, Shandong Agricultural University, Taian 271018, ChinaCollege of Mechanical and Electronic Engineering, Shandong Agricultural University, Taian 271018, ChinaTraditional sweet potato transplanters have the problem of seedling leakage and can only accomplish one transplantation method at a time, which does not meet the requirements of complex planting terrain that requires multiple transplantation methods. Therefore, this paper proposes a design for a crawler-type sweet potato transplanting machine, which can accomplish a variety of transplanting trajectories and conduct automatic replanting. The machine has a transplanting piece and a replanting piece. The transplanting piece completes the transplanting action through a transplanting robot arm, and the replanting piece detects the transplanting status by deep learning. The mathematical model of the transplanting robot arm is built, and the transplanting trajectory is inferred from the inverse kinematics model of the transplanting robot. In the replanting piece, a target detection network is used to detect the transplanting status. The DBIFPN structure and the CBAM_Dense attention mechanism are proposed to improve the accuracy of the target detection of sweet potato seedlings. The experiment showed that the transplanting robot arm can transplant sweet potatoes in horizontal and vertical methods, and the highest transplanting qualification rate is 96.8%. Compared with the use of the transplanting piece alone, the leakage rate of the transplanting–replanting mechanism decreased by 5.2%. These results provide a theoretical basis and technical support for the research and development of sweet potato transplanters.https://www.mdpi.com/2076-3417/11/19/9349agricultural machinerysweet potato seedlingstransplanterSTM32 control |
| spellingShingle | Zhengduo Liu Xu Wang Wenxiu Zheng Zhaoqin Lv Wanzhi Zhang Design of a Sweet Potato Transplanter Based on a Robot Arm Applied Sciences agricultural machinery sweet potato seedlings transplanter STM32 control |
| title | Design of a Sweet Potato Transplanter Based on a Robot Arm |
| title_full | Design of a Sweet Potato Transplanter Based on a Robot Arm |
| title_fullStr | Design of a Sweet Potato Transplanter Based on a Robot Arm |
| title_full_unstemmed | Design of a Sweet Potato Transplanter Based on a Robot Arm |
| title_short | Design of a Sweet Potato Transplanter Based on a Robot Arm |
| title_sort | design of a sweet potato transplanter based on a robot arm |
| topic | agricultural machinery sweet potato seedlings transplanter STM32 control |
| url | https://www.mdpi.com/2076-3417/11/19/9349 |
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