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Development of a Vision Guided Robot for Grafting Watermelon Based on Hole Insertion Method

文献类型： 外文期刊

作者： Liu, Kai 1 ; Jiang, Kai 2 ; Mu, Yanqiu 3 ;

作者机构： 1.Guangdong Mech & Elect Polytech, Guangzhou 510515, Peoples R China

2.Beijing Res Ctr Intelligent Equipment Agr, Beijing 100097, Peoples R China

3.Northeast Agr Univ, Coll Sci, Harbin 150030, Peoples R China

期刊名称：5TH ANNUAL INTERNATIONAL CONFERENCE ON INFORMATION SYSTEM AND ARTIFICIAL INTELLIGENCE (ISAI2020)

ISSN： 1742-6588

年卷期： 2020 年 1575 卷

页码：

收录情况： SCI

摘要： The grafting success rate of existing grafting robots will be significantly affected by individual differences in seedling's shape. To circumvent this problem, a vision guided robot consisting of a Denso manipulator, a scion cutting unit, a rootstock holding unit, a Cognex machine vision system, a control system, and an end effector was developed. The robot autonomously performed its grafting task using a machine vision to locate the punching target point and the tip of scion hypocotyl, and then control system regulated the manipulator to punch a hole on the rootstock stem and accurately insert the watermelon scion into the hole. The function experiment showed that the punching angle of pin used by robot was 60 degrees and the maximum inserting speed should not exceed 25 mm/s. Grafting experiment results showed that For the seedlings with individual differences in seedling's shape, the success rate of present grafting robot(95.6%) is higher than that (83%) of a early grafting robot (2JC-600B). It is obvious that vision guidance reduce the negative effect of individual differences in seedling's shape on grafting success rate.

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