Thematic suggestion

I * * * compiled 9 articles on this topic from Beijing Agricultural Intelligent Equipment Technology Research Center, Huazhong Agricultural University, China Agricultural University, China Rural Technology Development Center, Shanghai Agricultural Machinery Research Institute, Shanghai Jiaotong University, Shanghai Academy of Agricultural Sciences, Shihezi University, Shandong Agricultural University and other units.

This paper includes the development of agricultural machinery and information technology, the design of fruit and vegetable picking robot, the application of automatic navigation and measurement and control technology, the design and application of controller hardware of natural rubber tapping robot, white asparagus harvesting robot, livestock and poultry house epidemic prevention and disinfection robot, wheeled grain combine harvester, China intelligent agricultural machinery equipment standard system, and oil-electricity mixed orchard automatic navigation vehicle. For your reading and reference.

Special topic-agricultural robots and intelligent equipment

Theme-Agricultural Robots and Intelligent Devices

Chen Xuegeng, Wen Haojun, Zhang, Pan Fuchu, Zhao Yan. Development Status and Direction of the Integration of Agricultural Machinery and Information Technology [J]. Smart Agriculture (Chinese and English), 2020,2 (4):1-16.

Chen Xuegeng, Wen Haojun, Zhang, Pan Fuchu,. Progress in the Integration of Agricultural Machinery and Sensing Technology [J]. Smart Agriculture, 2020,2 (4):1-16.

In order to clarify the present situation of the integration development of agricultural machinery and information technology at home and abroad, find the key development direction and vigorously promote the intelligent development of agricultural machinery in China, this paper first analyzes the present situation of the integration development of agricultural machinery and information technology abroad, and summarizes its five characteristics. Later, it is pointed out that although the development of agricultural mechanization in China has achieved remarkable results, there are still some problems, such as unbalanced regional and structural development of agricultural machinery informatization integration, low recognition of agricultural machinery informatization by enterprises and farmers, weak basic research and key technology research, low management level of agricultural machinery operation information system, and lack of unified standards. Finally, the development direction of the integration of agricultural machinery and information technology in China is put forward, including promoting the development of intelligent sensing technology and navigation technology research, promoting the intelligence of agricultural machinery equipment, building an intelligent operating system of agricultural machinery, promoting the research of autonomous operation technology of agricultural machinery and the construction of unmanned farms, strengthening the formulation of technical standards for agricultural machinery informatization and cultivating compound talents. The integration of agricultural machinery and information technology is the inevitable trend of the development of modern agricultural machinery in China. Using information technology to promote the development of agricultural machinery can give full play to the guiding role of information technology and improve agricultural production efficiency, which is of great significance to promote the high-quality and efficient development of agricultural machinery in China.

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Wu Kangqiao, Fan, Gong Liang, Zhou Qiang,. Research status and development trend of fruit and vegetable picking robot system design and control technology [J]. Smart Agriculture (Chinese and English), 2020,2 (4):17-40.

, Fan, Gong Liang,, Zhou Qiang,. Research status and development direction of fruit and vegetable picking robot system design and control technology [J]. Smart Agriculture, 2020,2 (4):17-40.

Picking fresh fruits and vegetables is a production link that is difficult to realize mechanized operation, and picking with high efficiency and low loss is also a difficult problem in the research and development field of agricultural robots, resulting in almost no production and application of automatic fruit and vegetable picking equipment in the market. Aiming at the demand of picking fresh fruits and vegetables, in order to solve the problems of time-consuming, laborious, low efficiency and low degree of automation, scholars at home and abroad have designed a series of automatic picking equipment in recent 30 years, which has promoted the development of agricultural robot technology. When developing fresh fruit and vegetable picking equipment, we must first determine the picking object and picking scene. According to the growth position, shape and weight of crops, the complexity of the scene and the degree of automation required, the design requirements of agricultural robots are defined through complexity estimation, mechanical characteristics analysis and attitude modeling. Secondly, as the core actuator of the whole picking action, the design of the end effector of the picking robot is particularly important. In this paper, the structure of the end effector of picking robot is classified, the design flow and method of the end effector are summarized, the common driving mode and cutting scheme of the end effector are expounded, and the fruit collecting mechanism is summarized. Thirdly, this paper summarizes the overall control scheme, identification and positioning method, obstacle avoidance method and adaptive control scheme, quality grading method, man-machine interaction and multi-machine cooperation scheme of picking robot. In order to evaluate the performance of the picking robot as a whole, this paper also puts forward the average picking efficiency, long-term picking efficiency, picking quality, breakage rate and missed detection rate. Finally, the overall development trend of automatic picking machinery is prospected, and it is pointed out that the picking robot hand system will develop in the direction of generalization of picking target scenes, diversification of structural forms, full automation, intelligence and clustering.

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Li Hongwen, He Jin, Wang Qingjie, Lu, Chen Liping. Application status and prospect of automatic navigation and measurement and control technology in conservation tillage [J]. Smart Agriculture (Chinese and English), 2020,2 (4): 41-55.

, Li Hongwen, blades, Wang Qingjie, Lu,. Application status and prospect of automatic navigation and measurement technology in conservation tillage [J]. Smart Agriculture, 2020,2 (4): 41-55.

Realizing intelligence is an important way to improve the working quality and efficiency of protective farming machines and tools. As an important part of intelligent technology, the application of automatic navigation and measurement and control technology in conservation tillage has developed rapidly in recent years. Firstly, this paper expounds the application status of automatic navigation technology in conservation tillage from three kinds of automatic navigation technologies: contact, machine vision and GNSS. The development trend of operation parameter monitoring technology is introduced in detail, including rapid detection technology of surface straw coverage, monitoring technology of sowing parameters of no-tillage seeder and monitoring technology of protective tillage machinery operation area. Then, the development status of operation control technology of conservation tillage machines and tools is expounded, and the compensation control technology of missed sowing and operation depth control technology of no-tillage seeder are emphatically introduced. Finally, on the basis of summarizing the application of existing automatic navigation and measurement and control technology in conservation tillage, the research direction of automatic navigation technology, operation parameter monitoring technology and operation control technology of conservation tillage tools in the future is prospected.

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Zhou Hang, Zhang Shunlu, Zhai Yihao, Wang Song, Zhang Chunlong, Zhang Junxiong and Li Wei. Visual servo control method and rubber tapping experiment of natural rubber tapping robot [J]. Smart Agriculture (Chinese and English), 2020,2 (4): 56-64.

Zhou Hang, Zhang Shunlu, Zhai Yihao, Wang Song, Zhang Chunlong, Zhang Junxiong and Li Wei. Visual servo control method and rubber tapping experiment of natural rubber tapping robot [J]. Smart Agriculture, 2020,2 (4): 56-64.

Automatic rubber tapping can not only liberate rubber workers from heavy physical labor and harsh working environment, but also reduce their technical dependence on rubber workers and greatly improve production efficiency. It is the key technology of tapping robot to realize autonomous acquisition of operation information and servo control of tapping position in unstructured environment. Aiming at the technical difficulties such as complex and changeable working environment, overlapping and interactive operation information, similar target background characteristics and sub-millimeter operation accuracy requirements, this study takes rubber trees in artificial rubber forest as the tapping object, develops a tapping robot, and plans the robot's motion path by establishing a spatial mathematical model of tapping trajectory, so as to quickly approach and leave the working space. The structural parameters of trunk and secant are obtained by binocular stereo vision technology, and a modular prototype of tapping robot is developed by integrating robot kinematics, machine vision technology and multi-sensor feedback control technology. The rubber tapping robot is mainly composed of a mobile platform of an orbital robot, a multi-joint manipulator, a binocular stereo vision system and an end effector. The results of rubber tapping test in Hainan natural rubber forest show that when rubber skin with a thickness of 65438±0mm is cut by rubber tapping robot, the skin consumption error is about 0.28 mm and the cutting depth error is about 0.49 mm

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Li Yang, Zhang Ping, Jin Yuan, Liu Xuemei. Visual positioning and harvesting path optimization of harvesting robot for white asparagus [J]. Smart Agriculture (Chinese and English), 2020,2 (4): 65-78.

Li Yang, Zhang Ping, Jin Yuan, Liu Xuemei. Visual positioning and harvesting path optimization of white asparagus harvesting robot [J]. Agricultural Science, 2002. Smart Agriculture, 2020,2 (4): 65-78.

Abstract: Selective harvesting according to the unearthed state of bamboo shoots is currently recognized as the best harvesting method for white asparagus. In order to solve the problem that the texture and color of bamboo shoot tips are similar to the ridge surface in the process of machine vision recognition, a variable-scale region of interest detection method is proposed, and the method of bamboo shoot tip recognition and accurate positioning is studied by combining image gamut transformation, histogram averaging, morphology and texture filtering. On the basis of locating the coordinates of multiple bud tips, the optimization method of multiple bud tip harvesting paths is put forward, which solves the problem of low harvesting efficiency caused by unreasonable harvesting paths. Firstly, the image of harvesting area is collected in real time by robot vision system, and RGB three-channel Gaussian filtering is carried out. HSV color gamut transformation is used to average the histogram. On this basis, the characteristics of bamboo shoots and soil are clustered, and the variable-scale ROI detection method is studied according to the degree of bamboo shoots. The morphology of bamboo shoots and the texture of bamboo shoots and soil in the collected images were statistically analyzed, and the quasi-roundness threshold of bamboo shoots was set. According to the texture characteristic parameters, the position of bamboo shoot is determined, and its geometric center is calculated to get the central coordinates of bamboo shoot outline. Secondly, in order to achieve efficient harvesting of white asparagus, according to the position distribution of multi-target points and head points, an optimization algorithm of harvesting path based on multi-tree traversal is designed to obtain the optimal harvesting path of multi-target bamboo shoots. Finally, the experimental platform of picking robot was built, and the verification experiment of bamboo shoot tip positioning and picking was carried out. The results show that the recognition rate of white asparagus by vision system can reach 98.04%, and the maximum positioning error of the center coordinates of bamboo shoot tip contour is 0.879 mm in X direction and 0.882 mm in Y direction. Under different conditions, the average moving distance of the end effector can be saved by 43.89%, the positioning success rate of the end effector can reach 100%, and the recovery rate of white asparagus can reach 88.00% in the laboratory environment.

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Feng Qingchun, Wang Xiu, Qiu Quan, Zhang Chunfeng, Li Bin, Xu Ruifeng, Chen Liping. Design and experiment of epidemic prevention and disinfection robot for livestock and poultry houses [J]. Intelligent Agriculture (Chinese and English), 2020,2 (4): 79-88.

Feng,, Qiu Quan,,, Xu Ruifeng,. Design and experiment of disinfection robot for livestock and poultry houses [J]. Smart Agriculture, 2020,2 (4): 79-88.

Aiming at the problems of high labor intensity and poor safety in epidemic prevention and disinfection of livestock and poultry breeding, an epidemic prevention and disinfection robot system was designed to realize the intelligent operation of epidemic prevention and disinfection spray in livestock and poultry houses. The robot system consists of four parts: a mobile platform, an epidemic prevention spray assembly, an environmental monitoring sensor and a controller, and supports two working modes: full-automatic operation and remote control operation. In view of the poor light and low stress working conditions in livestock and poultry houses, a navigation path detection method combining magnetic marking and radio frequency identification is proposed to realize the autonomous movement between breeding cages in livestock and poultry houses. A wind-assisted liquid medicine nozzle is designed, which can realize the atomization and diffusion of disinfection liquid medicine at the same time. Through the hydrodynamic simulation of the wind field in the nozzle cavity, the structural parameters of the gas diversion and liquid medicine atomization part of the nozzle are optimized, and the inclination angles of the conical diversion pad and the atomization grid are determined to be 75 and 90 respectively. Finally, the navigation and spraying performance of the robot was tested in the henhouse. The experimental results show that the robot mobile platform can meet the automatic line patrol navigation in the speed range of 0. 1~0.5 m/s, and the maximum deviation between its actual trajectory and the magnetic nail mark is 50.8mm；; ; The pneumatic nozzle is suitable for spraying liquid medicine with the flow rate of 200-400 ml/min. The droplet diameter (DV.9) is 5 1.82~ 137.23 microns, and the droplet deposition density is116 ~149/cm2. The robot for epidemic prevention and disinfection in livestock and poultry houses can realize disinfection in breeding houses and intelligent spraying of immune liquid.

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Ding Youchun, Wang, Peng Jingya, Xia Zhongzhou. Design and Experiment of Visual Navigation System for Wheeled Grain Combine [J]. Intelligent Agriculture (Chinese and English), 2020,2 (4): 89-102.

Ding Youchun, Wang, Peng, Xia Zhongzhou. Visual navigation system of wheeled grain combine [J]. Smart Agriculture, 2020,2 (4): 89-102.

In order to improve the harvest quality and efficiency of combine harvester, the visual navigation control system of wheeled grain combine harvester was constructed, and the grain harvest boundary straight line detection algorithm was designed by OpenCV to identify the boundary between the harvested area and the un-harvested area of rice field. After pretreatment, secondary edge segmentation and line detection, the forward-looking target path of the combine is obtained, and the field dynamic calibration is carried out according to the relative position information of the forward-looking path to obtain the full-width harvesting state of the combine. A linear path tracking control method based on forward viewpoint is proposed. Through pre-correction control, the full cutting width can be maintained and crop leakage can be prevented. The relative position deviation value and real-time steering wheel angle are used as the inputs of the visual navigation controller, and the steering wheel control voltage is output according to the correction strategy. The results of paddy field experiments show that the navigation system can reliably obtain the relative position and posture of wheeled combine in the field and stably implement the target linear path tracking control. Under the condition that the field illumination conforms to the normal work of human eyes, the detection accuracy of harvest boundary recognition algorithm is not less than 96.28%, and the detection time of single frame is less than 50 ms; On the premise of not missing cutting, the average cutting rate of visual navigation is 94. 16%, and with the increase of line number, the cutting consistency is improving. This research can provide technical support for automatic navigation and full cutting operation of combine harvester.

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[8], Liang Xuexiu, Mei, Lu Bian. Suggestions on the construction and development of standard system framework of intelligent agricultural machinery and equipment in China [J]. Intelligent Agriculture (in Chinese and English), 2020,2 (4):116-123.

, Liang Xuexiu,, Mei, Lu. Construction of standard system framework of intelligent agricultural machinery in China [J]. Intelligent Agriculture, 2020,2 (4):116-123.

Aiming at the lack of systematic standard system guidance in the standardization of intelligent agricultural machinery and equipment in China, the framework of the standard system of intelligent agricultural machinery and equipment in China was constructed. Firstly, the present situation and existing problems of intelligent agricultural machinery equipment standardization in China are analyzed from the aspects of standard system, specific standards and internationalization level. Based on the goal and principle of constructing the standard system framework of intelligent agricultural machinery and equipment, this paper summarizes the dimensions of the standard system framework, such as level, binding force, universality, nature, object, standard category, reference model, industry classification and industry link. Then, the three-dimensional frame structure of China intelligent agricultural machinery equipment standard system is constructed by using levels, categories and industrial links, and it is decomposed into basic layer, * * general layer and application field layer. Finally, some suggestions on the research and compilation of intelligent agricultural machinery equipment standards in China are put forward. This research can provide systematic guidance for the formulation, revision, implementation and service of China's intelligent agricultural machinery and equipment standards and lead the rapid development of China's intelligent agricultural machinery and equipment industry.

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Wu, Wu Kangqiao, Li, Gan Ling, Gong Liang,. Design and Application of Hardware-in-the-loop Simulation Platform for Automatic Navigation Vehicle Controller in Oil-electricity Orchard [J]. Smart Agriculture (Chinese and English), 2020,2 (4):149-164.

Wu,,, Li, Gan Ling, Gong Liang,. Design and Application of Hardware-in-the-Loop Simulation Platform for AGV Controller in Hybrid Orchard [J]. Smart Agriculture, 2020,2 (4):149-164.

Orchard has a wide area, complex terrain, many trenches, overgrown weeds, high soil moisture and loose soil, which puts forward higher standards and requirements for the mechanical structure, control system and energy power system design of AGV. Hybrid AGV car can meet the needs of orchard long-distance movement. In order to explore the algorithm and energy management strategy suitable for hybrid AGV control system, reduce the cost of manpower, material resources and time caused by controller design verification iteration in the design process, and diversify the demand caused by the complex terrain of orchard, according to the characteristics of wide orchard area, series hybrid power system is selected to build the AGV power energy system model. In addition, according to the characteristics that the AGV in orchard needs to adapt to a large range of terrain, the tracked vehicle model structure is adopted, the hardware-in-the-loop simulation technology is used, the raspberry pie is used as the control algorithm of the control system, and the real-time simulation model of the system including the energy power system, the motor drive system, the tracked vehicle running part model and the road surface model is established by using Matlab and RecurDyn software, and finally the hardware-in-the-loop simulation function of the series hybrid AGV controller is realized. The simulation results based on cascade proportional integral differential (PID) and fuzzy controller control algorithm show that the fuzzy controller control algorithm can reduce the time cost caused by parameter adjustment, the response speed is increased by 50% when the steering angle is small, and the cascade PID controller produces 10% overshoot when the steering angle is large, but the fuzzy controller has no overshoot and the steering is more stable. The results show that the hardware-in-the-loop simulation platform can be effectively applied to the development of orchard AGV controller, avoiding the physical test of control, reducing the cost and accelerating the development process of orchard automatic navigation vehicle.

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