Research on Robot Control Technology of Tomato Plant Lowering in Greenhouses
Abstract
:1. Introduction
2. Materials and Lowering and Separating Integrated End Effector
2.1. Greenhouse Environment and Hook Parameters
2.2. Tomato-Plant-Lowering-Related Content
2.3. Design of the End Effector
2.4. The Workflow of the End Effector
3. Target Detection and 3D Location
3.1. Dataset Construction
3.2. Improved Yolo-v5s Detection Model
4. Construction of the Plant-Lowering Robot System
4.1. Robot Hardware System Building
4.2. Kinematics of Robot Arm
- Coordinate systems are established to determine the positions between the links of the robot arm. The axis coincides with the axis of the joint . If the axis and the axis intersect, their intersection point serves as the origin of the coordinate system. If they do not intersect, the origin is the intersection of the common perpendicular of the two axes and the axis. The axis is perpendicular to both the axis and the axis. If the axis and the axis do not intersect, the axis points from the axis to the axis. Once the axis and axis are determined, the axis can be established according to the right-hand rule. These steps allow for the determination of the link coordinate systems of a robot arm. To simplify the transformation between coordinate systems, the third and fourth coordinate systems have been offset, as shown in Figure 12.
- The coordinate system between two adjacent connecting rods is transformed through translation and rotation. The implementation steps of the improved D-H modeling method are as follows: (1) rotating the coordinate system around the axis so that the axis is parallel to the axis; (2) translating the coordinate system along the direction of the axis until the axis coincides with the axis; (3) rotating the coordinate system around the axis so that the axis is parallel to the axis; and (4) translating the coordinate system along the axis so that the axis coincides with the axis. After the coordinate systems aligned, we established the D-H parameters (Table 2).
- 3
- The transformation matrix between links is obtained using the D-H parameter table.
- 4
- The transformation matrix between any two links is derived by successively multiplying the transformation matrices of adjacent links.
4.3. Hand–Eye System Calibration
5. Experiment of Automatic Plant-Lowering
5.1. Plant-Lowering Robot Application
5.2. Experimental Analysis of Visual Recognition
5.3. Experimental Analysis of End Effector
5.4. Experimental Analysis of Lowering Plants
6. Conclusions
Author Contributions
Funding
Data Availability Statement
Acknowledgments
Conflicts of Interest
References
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Number | Specie | Weight (kg) |
---|---|---|
1 | Cherry tomatoes | 2.135 |
2 | Cherry tomatoes | 2.910 |
3 | Cherry tomatoes | 2.485 |
4 | Cherry tomatoes | 2.535 |
5 | Cherry tomatoes | 2.890 |
6 | Cherry tomatoes | 3.495 |
7 | Large tomatoes | 1.265 |
8 | Large tomatoes | 1.235 |
9 | Large tomatoes | 2.275 |
10 | Large tomatoes | 2.265 |
11 | Large tomatoes | 1.365 |
12 | Large tomatoes | 1.374 |
Length of Connecting Rod (mm) | Torsion Angle (°) | Setover of Link (mm) | Joint Angle (°) | |
---|---|---|---|---|
1 | 0 | 0 | 98.5 | |
2 | 0 | 121.5 | ||
3 | 408 | 0 | 0 | |
4 | 376 | 0 | ||
5 | 0 | 102.5 | 0 | |
6 | 0 | 94 | 0 |
Rotation Matrix | Translation Matrix | ||
---|---|---|---|
−0.2590 | −0.9652 | 0.0358 | 76.5719 |
0.8881 | −0.2525 | −0.3841 | 25.7065 |
0.3797 | −0.0677 | 0.9226 | 296.1457 |
Number of Hooks | Number of Experiments | The Distance from the Camera (m) | Percent (%) |
---|---|---|---|
1 | 40 | 0.3–0.4 | 60 |
1 | 40 | 0.4–0.5 | 95 |
1 | 40 | 0.5–0.6 | 80 |
1 | 40 | 0.6–0.7 | 70 |
2 | 40 | 0.3–0.4 | 60 |
2 | 40 | 0.4–0.5 | 90 |
2 | 40 | 0.5–0.6 | 80 |
2 | 40 | 0.6–0.7 | 65 |
3 | 40 | 0.3–0.4 | 55 |
3 | 40 | 0.4–0.5 | 85 |
3 | 40 | 0.5–0.6 | 70 |
3 | 40 | 0.6–0.7 | 55 |
Gripper Point | Number of Roller Hooks | The Percent of Upper Claw (%) |
---|---|---|
A | 30 | 90 |
B | 30 | 80 |
C | 30 | 80 |
D | 30 | 70 |
E | 30 | 60 |
F | 30 | 30 |
Gripper Point | Number of Roller Hooks | The Percent of Upper Claw (%) |
---|---|---|
A | 30 | 0 |
B | 30 | 0 |
C | 30 | 30 |
D | 30 | 70 |
E | 30 | 90 |
F | 30 | 95 |
Number of Hooks | Number of Experiments | The Position in the Camera | Times (s) | Percent (%) |
---|---|---|---|---|
1 | 30 | Left | 34.21 | 60 |
1 | 30 | Mid | 30.04 | 70 |
1 | 30 | Right | 33.54 | 50 |
2 | 30 | Left | 72.78 | 55 |
2 | 30 | Mid | 70.56 | 60 |
2 | 30 | right | 71.35 | 50 |
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Zhang, B.; Xu, S.; Xiong, Z.; Qin, H.; Ai, X.; Yuan, T.; Li, W. Research on Robot Control Technology of Tomato Plant Lowering in Greenhouses. Agronomy 2024, 14, 1966. https://doi.org/10.3390/agronomy14091966
Zhang B, Xu S, Xiong Z, Qin H, Ai X, Yuan T, Li W. Research on Robot Control Technology of Tomato Plant Lowering in Greenhouses. Agronomy. 2024; 14(9):1966. https://doi.org/10.3390/agronomy14091966
Chicago/Turabian StyleZhang, Bin, Shuhao Xu, Ziming Xiong, Hao Qin, Xinyi Ai, Ting Yuan, and Wei Li. 2024. "Research on Robot Control Technology of Tomato Plant Lowering in Greenhouses" Agronomy 14, no. 9: 1966. https://doi.org/10.3390/agronomy14091966