Background: Garlic is one of the main economic crops in China and the planting area is increasing quickly. But the harvest process of the garlic mainly relies on manual digging, resulting in low harvest efficiency and high cost. Objective: In order to improve the efficiency of garlic harvest, and achieve the mechanization of garlic harvest. The study presents a new design of a garlic harvesting machine that can perform automatic processing and deal with the issue of garlic harvesting. Methods: Firstly, the three-dimensional model of the whole machine and the key mechanism is established and the parameters of the system are calculated by theoretical calculation. Then, the simulation be made and the design be optimized. Finally, the design was processed into a product. It employs an isolation mechanism and positioned cutting mechanism to isolate garlic and crop stubbles and keep the length of the remaining garlic straw consistent. Results: The results of field harvest experiments show that the miss digging rate, miss cutting rate and injury rate of the harvester are as low as 1.23%, 3.13% and 0.68% respectively, and the harvest efficiency is 0.06km2/h. Conclusion: The advantages of the harvester such as high harvesting rate, low damage rate, strong adaptability and high versatility, effectively improve the working efficiency, reduce the labor intensity and the harvest cost.
Background: The Hyphantria cunea is a worldwide quarantine pest. It has the characteristics of wide variety of recipes, strong adaptability, wide transmission channels and serious harm, which seriously endangers the sustainable development of the ecological environment. Now, the control methods of the Hyphantria cunea are costly and inefficient. Objective: An intelligent target spraying robot based on machine vision is designed for cleansing Hyphantria cunea larva nets according to the characteristics of the net curtain and the background color. Methodology: The mobile mechanism of the spraying robot is based on a crawler type trolley and the three-dimensional movements are achieved by stepping motor and synchronous belt driving linear guide slider in the horizonal plane, and by lead screw in the vertical direction. The on-board software controls the hand-eye actuator to scan the target trees with a specific trajectory, and performs image processing to identify the target so as to intelligently spray on the target. Results: The spraying robot can cope with the irregular distribution of Hyphantria cunea larva nets, and can realize the three-dimensional movement of the nozzle, and perform the progressive scanning to identify the larva nets, and the robot controls the nozzle to spray the medicine, thereby realizing the intelligent spraying of the target. Conclusion: Experiments show that accurate target spraying of the robot can be achieved, and the target coverage rate can reach up to 85% of the total larva nets, which greatly improves the spraying efficiency.
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