scholarly journals A Field-Tested Harvesting Robot for Oyster Mushroom in Greenhouse

Agronomy ◽  
2021 ◽  
Vol 11 (6) ◽  
pp. 1210
Author(s):  
Jiacheng Rong ◽  
Pengbo Wang ◽  
Qian Yang ◽  
Feng Huang
Keyword(s):  
Success Rate ◽  
Point Cloud ◽  
Field Experiments ◽  
Oyster Mushroom ◽  
Robot System ◽  
End Effector ◽  
Rgb Images ◽  
Oyster Mushrooms ◽  
Recognition Success ◽  
Harvesting Robot

The fully autonomous harvesting of oyster mushrooms in the greenhouse requires the development of a reliable and robust harvesting robot. In this paper, we propose an oyster-mushroom-harvesting robot, which can realize harvesting operations in the entire greenhouse. The two crucial components of the harvesting robot are the perception module and the end-effector. Intel RealSense D435i is adopted to collect RGB images and point cloud images in real time; an improved SSD algorithm is proposed to detect mushrooms, and finally, the existing soft gripper is manipulated to grasp oyster mushrooms. Field experiments exhibit the feasibility and robustness of the proposed robot system, in which the success rate of the mushroom recognition success rate reaches 95%, the harvesting success rate reaches 86.8% (without considering mushroom damage), and the harvesting time for a single mushroom is 8.85 s.

Research on Key Technology of Truss Tomato Harvesting Robot in Greenhouse

2013 ◽  
Vol 442 ◽  
pp. 480-486 ◽  
Author(s):  
Chao Ji ◽  
Jing Zhang ◽  
Ting Yuan ◽  
Wei Li
Keyword(s):  
Success Rate ◽  
Execution Time ◽  
Tomato Fruit ◽  
Color Difference ◽  
Growth Characteristics ◽  
Robot System ◽  
End Effector ◽  
Key Technology ◽  
Key Technologies ◽  
Harvesting Robot

In order to improve the automated vegetable-harvesting level, a robot system for truss tomato harvesting and two key technologies of picking-point recognition and end-effector design were proposed. An algorithm used the segmentation feature of the color difference 2r-g-b to recognize the truss tomato fruit and the assistant mark. According to the growth characteristics of the stem of tomato truss, the approximate fitting curve of stem and the contour of assistant mark were extracted to generate the optimal picking-point for location of tomato truss. The hardware structure of an end-effector based on flexible transmission was designed, and the function of cutting and grasping could be realized simultaneously by the end-effector. Experimental results show that the success rate for harvesting truss tomato was 88.6%, and the average execution time for picking a truss tomato was 37.2s.

scholarly journals Cutting Point Detection Using a Robot with Point Clouds for Tomato Harvesting

2020 ◽  
Vol 32 (2) ◽  
pp. 437-444
Author(s):  
Takeshi Yoshida ◽  
Takanori Fukao ◽  
Takaomi Hasegawa ◽  
◽  
Keyword(s):  
Point Cloud ◽  
Point Clouds ◽  
Depth Camera ◽  
End Effector ◽  
Point Detection ◽  
Cutting Point ◽  
Harvesting Robot

This paper proposes a method to detect cutting points on tomato peduncles using a harvesting robot. The main objective of this study was to develop automated harvesting robots. The harvesting robot was equipped with an RGB-D (Red, Blue, Green, and Depth) camera to detect peduncles and an end effector to harvest tomatoes. Robots must be able to detect where to cut crops during harvesting. The proposed method was used to detect the cutting points on peduncles using a point cloud captured by the RGB-D camera. Our robot was used to identify the cutting points on target tomato peduncles at an actual farm to demonstrate the effectiveness of our approach experimentally. Using the proposed method, the harvesting robot could detect the cutting points on tomatoes.

scholarly journals Fast Detection of Tomato Peduncle Using Point Cloud with a Harvesting Robot

2018 ◽  
Vol 30 (2) ◽  
pp. 180-186 ◽  
Author(s):  
Takeshi Yoshida ◽  
Takanori Fukao ◽  
Takaomi Hasegawa ◽  
◽  
Keyword(s):  
Energy Function ◽  
Point Cloud ◽  
Computational Time ◽  
Fast Method ◽  
End Effector ◽  
Tomato Plants ◽  
Fast Detection ◽  
Cutting Point ◽  
Harvesting Robot

This paper proposes a fast method for detecting tomato peduncles by a harvesting robot. The main objective of this study is to develop automated harvesting with a robot. The harvesting robot is equipped with an RGB-D camera to detect peduncles, and an end effector to harvest tomatoes. It is necessary for robots to detect where to cut a plant for harvesting. The proposed method detects peduncles using a point cloud created by the RGB-D camera. Pre-processing is performed with voxelization in two resolutions to reduce the computational time needed to calculate the positional relationship between voxels. Finally, an energy function is defined based on three conditions of a peduncle, and this function is minimized to identify the cutting point on each peduncle. To experimentally demonstrate the effectiveness of our approach, a robot was used to identify the peduncles of target tomato plants and harvest the tomatoes at a real farm. Using the proposed method, the harvesting robot achieved peduncle detection of the tomatoes, and harvested tomatoes successfully by cutting the peduncles.

scholarly journals Determination of Antioxidant Parameters of Pleurotus Mushrooms Growing on Different Wood Substrates

2017 ◽  
Vol 61 (4) ◽  
pp. 53-58
Author(s):  
I. Strapáč ◽  
M. Kuruc ◽  
M. Baranová
Keyword(s):  
Oyster Mushroom ◽  
Total Flavonoids ◽  
Total Phenols ◽  
Fruiting Bodies ◽  
Pleurotus Pulmonarius ◽  
Antioxidant Parameters ◽  
Oyster Mushrooms ◽  
Maximum Content ◽  
Β Carotene

AbstractExtracts of the fruiting bodies of the Oyster mushroom (Pleurotus ostreatus) grown on wood substrates (beech, oak, linden, walnut, poplar) and extracts of the fruiting bodies of the Oyster mushroom (Pleurotus pulmonarius) grown in nature on aspen wood were used to determine the total phenols, total flavonoids, lycopene and β-carotene. The content of individual antioxidants varies considerably depending, not only on the substrate, but also on the extracting agents. The highest content of total phenols and total flavonoids was found in methanol and water extracts of the fruiting bodies of the Oyster mushrooms grown on oak and linden substrates. The maximum content of lycopene and β-carotene was determined in acetone and n-hexane (ratio 4 : 6) extracts of the fruiting bodies of the Oyster mushroom grown on an oak block. The results obtained in this study demonstrated that the quantitative and also probably the qualitative composition of the antioxidants in the fruiting bodies of Oyster mushrooms depended considerably on the substrate composition.

scholarly journals Deviation Tolerance Performance Evaluation and Experiment of Picking End Effector for Famous Tea

Agriculture ◽  
2021 ◽  
Vol 11 (2) ◽  
pp. 128
Author(s):  
Yingpeng Zhu ◽  
Chuanyu Wu ◽  
Junhua Tong ◽  
Jianneng Chen ◽  
Leiying He ◽  
...  
Keyword(s):  
Success Rate ◽  
Negative Pressure ◽  
Evaluation Method ◽  
Orthogonal Experiment ◽  
Spatial Position ◽  
End Effector ◽  
Significance Level ◽  
Growth Environment ◽  
End Effectors ◽  
Average Success Rate

Accurately obtaining the posture and spatial position of tea buds through machine vision and other technologies is difficult due to the small size, different shapes, and complex growth environment of tea buds. Therefore, end effectors are prone to problems, such as picking omission and picking error. This study designs a picking end effector based on negative pressure guidance for famous tea. This end effector uses negative pressure to guide tea buds in a top-down manner, thereby correcting their posture and spatial position. Therefore, the designed end effector has deviation tolerance performance that can improve the picking success rate. The pre-experiment is designed, the tip of apical bud is referred to as the descent position, and the negative pressure range is determined to be 0.6 to 0.9 kPa. A deviation tolerance orthogonal experiment is designed. Experimental results show that various experimental factors are ranked in terms of the significance level of the effect on the average success rate, and the significance ranking is as follows: negative pressure (P) > pipe diameter (D) > descent speed (V). An evaluation method of deviation tolerance performance is presented, and the optimal experiment factor-level combination is determined as: P = 0.9 kPa, D = 34 mm, V = 20 mm/s. Within the deviation range of a 10 mm radius, the average success rate of the negative pressure guidance of the end effector is 97.36%. The designed end effector can be applied to the intelligent picking of famous tea. This study can provide a reference for the design of similar picking end effectors for famous tea.

Adaptive motion selection for online hand–eye calibration

Robotica ◽  
2007 ◽  
Vol 25 (5) ◽  
pp. 529-536
Author(s):  
Jing Zhang ◽  
Fanhuai Shi ◽  
Yuncai Liu
Keyword(s):  
Motion Planning ◽  
Dynamic Threshold ◽  
Selection Algorithm ◽  
Robot System ◽  
End Effector ◽  
Threshold Determination ◽  
Robot Gripper ◽  
Adaptive Motion ◽  
Selection For ◽  
Relative Pose

SUMMARYWhile a robot moves, online hand–eye calibration to determine the relative pose between the robot gripper/end-effector and the sensors mounted on it is very important in a vision-guided robot system. During online hand–eye calibration, it is impossible to perform motion planning to avoid degenerate motions and small rotations, which may lead to unreliable calibration results. This paper proposes an adaptive motion selection algorithm for online hand–eye calibration, featured by dynamic threshold determination for motion selection and getting reliable hand–eye calibration results. Simulation and real experiments demonstrate the effectiveness of our method.

scholarly journals Towards an Efficient Tomato Harvesting Robot: 3D Perception, Manipulation, and End-Effector

IEEE Access ◽  
2021 ◽  
Vol 9 ◽  
pp. 17631-17640
Author(s):  
Jongpyo Jun ◽  
Jeongin Kim ◽  
Jaehwi Seol ◽  
Jeongeun Kim ◽  
Hyoung Il Son
Keyword(s):  
3D Perception ◽  
End Effector ◽  
Harvesting Robot

scholarly journals Dense RGB-D Semantic Mapping with Pixel-Voxel Neural Network

Sensors ◽  
2018 ◽  
Vol 18 (9) ◽  
pp. 3099 ◽  
Author(s):  
Cheng Zhao ◽  
Li Sun ◽  
Pulak Purkait ◽  
Tom Duckett ◽  
Rustam Stolkin
Keyword(s):  
Point Cloud ◽  
Contextual Information ◽  
Semantic Category ◽  
Semantic Mapping ◽  
Confidence Levels ◽  
Time Performance ◽  
Weighted Fusion ◽  
Geometrical Shapes ◽  
Rgb Images ◽  
High Level

In this paper, a novel Pixel-Voxel network is proposed for dense 3D semantic mapping, which can perform dense 3D mapping while simultaneously recognizing and labelling the semantic category each point in the 3D map. In our approach, we fully leverage the advantages of different modalities. That is, the PixelNet can learn the high-level contextual information from 2D RGB images, and the VoxelNet can learn 3D geometrical shapes from the 3D point cloud. Unlike the existing architecture that fuses score maps from different modalities with equal weights, we propose a softmax weighted fusion stack that adaptively learns the varying contributions of PixelNet and VoxelNet and fuses the score maps according to their respective confidence levels. Our approach achieved competitive results on both the SUN RGB-D and NYU V2 benchmarks, while the runtime of the proposed system is boosted to around 13 Hz, enabling near-real-time performance using an i7 eight-cores PC with a single Titan X GPU.

scholarly journals Service Innovation of Insurance Data Based on Cloud Computing in the Era of Big Data

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-10
Author(s):  
Wei Yang ◽  
Junkai Zhou
Keyword(s):  
Cloud Computing ◽  
Big Data ◽  
Customer Satisfaction ◽  
Success Rate ◽  
Insurance Industry ◽  
Service Innovation ◽  
Test Set ◽  
Test Sets ◽  
Recognition Success ◽  
Insurance Data

With the advent of the era of big data, great changes have taken place in the insurance industry, gradually entering the field of Internet insurance, and a large amount of insurance data has been accumulated. How to realize the innovation of insurance services through insurance data is crucial to the development of the insurance industry. Therefore, this paper proposes a ciphertext retrieval technology based on attribute encryption (HP-CPABKS) to realize the rapid retrieval and update of insurance data on the premise of ensuring the privacy of insurance information and puts forward an innovative insurance service based on cloud computing. The results show that 97.35% of users are successfully identified in test set A and 98.77% of users are successfully identified in test set B, and the recognition success rate of the four test sets is higher than 97.00%; when the number of challenges is 720, the modified data block is less than 9%; the total number of complaints is reduced from 1300 to 249; 99.19% of users are satisfied with the innovative insurance service; the number of the insured is increased significantly. To sum up, the insurance innovation service based on cloud computing insurance data can improve customer satisfaction, increase the number of policyholders, reduce the number of complaints, and achieve a more successful insurance service innovation. This study provides a reference for the precision marketing of insurance services.

scholarly journals ANALISIS STRATEGI PEMASARAN JAMUR TIRAM PUTIH (PLEUROTUS OSTREATUS) PADA USAHA DAGANG KENANGA DI KECAMATAN AMPENAN KOTA MATARAM

GANEC SWARA ◽  
2019 ◽  
Vol 13 (2) ◽  
pp. 375
Author(s):  
IDA AYU KETUT MARINI ◽  
IDA AYU NOPIARI ◽  
IDA BAGUS EKA ARTIKA
Keyword(s):  
Financial Management ◽  
Swot Analysis ◽  
Small And Medium Enterprises ◽  
Oyster Mushroom ◽  
Economic Entity ◽  
Technological Advances ◽  
Competitive Prices ◽  
Oyster Mushrooms ◽  
The Government ◽  
Medium Enterprises

   Micro, small, and medium enterprises (MSMEs) are one economic entity that continues to be encouraged by the government, because it can absorb labor, can reduce unemployment and also increase people's income   This research is carried out at UD Kenanga, which produces and markets oyster mushrooms in the city of Mataram. This research is a descriptive study that aims to determine marketing strategies. This research is analyzed by SWOT analysis.  The results show that UD Kenanga is strategically in quadrant II which shows that UD Kenanga is in a diversified strategy position. The conclusion of this study is the internal and external factors that influence the marketing strategy of white oyster mushrooms on UD. Kenanga consists of an affordable amount of capital, competent workforce, adequate product quality, strategic company location, competitive prices and able to produce their own seeds. Factors that become weaknesses are low production levels, not yet diversifying white oyster mushroom products, lack of a marketing system for white oyster mushroom products, limited production land, unprofessional financial management, no mushroom product promotion activities. Factors that become opportunities are broad market share, high purchasing power, government intervention, demand for oyster mushroom products is increasing, technological advances. Threatening factors are inter-company competition, changing seasons, consumer demands for quality mushroom products, rising fuel prices.   Suggestions for companies, to diversify the company's products By diversifying products, so as to increase new customers or consumers. For the government, to pay more attention to the needs of micro businesses, especially to increase activities or technical training related to white oyster mushroom products. 

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