1. 1 What is agricultural machinery?
1.2 from agricultural machinery to agricultural robots
1.2. 1 definition of agricultural robot
1.2.2 History and function of agricultural robots
1.2.3 new agricultural production using robots
2 machine vision
2. 1 machine vision of agricultural robots
2.2 Optical characteristics of objects
2.3 machine vision system
2.3. 1 energy flow
illuminate
2.3.3 Camera components and cameras
2.3.4 image data transmission from camera to PC
2.4 machine vision software
2.4. 1 color conversion
pretreatment
2.4.3 Measurement of feature quantity of binary image
2.4.4 Texture feature quantity
Position detection
recognition algorithm
2.5 Information from machine vision
2.5. 1 X-ray image
Ultraviolet image
color picture
2.5.4 Gray image
nearing fared image
2.5.6 terahertz wave image
Hyperspectral image
remote sensing image
Three-dimensional image
2. 5. 10 other tomographic images 3 end effector and mechanical arm
3. 1 end effector and mechanical arm of agricultural robot
3.2 Characteristics of the object
3.2. 1 physical characteristics
3.2.2 Culture method
3.3 Driver (transmission device)
3.3. 1 electric type
Hydraulic type
Pneumatic type
Shape memory alloy actuator
3.4 sensor
microswitch
photosensor
potentiometer
encoder
ultrasonic sensor
Private Sector Division
Laser range finder
strain gage
pressure transducer
3.4. 10 infrared sensor
3.5 End effector
3.5. 1 end effector mechanism
3.5.2 Functions of the end effector
3.5.3 Detection function of end effector
3.6 mechanical arm
3.6. 1 Basic mechanism of mechanical arm
3.6.2 Types of mechanical arms and appropriate cultivation methods
maneuverability
Redundant DOF manipulator
3.6.5 Safety of Mechanical Arm 4 Vehicle Automation
4. 1 On-site vehicle automation
4. 1. 1 vehicle automation components
4. 1.2 Mechanical and electrical knowledge required for vehicle automation
4. 1.3 Next Generation Robot Technology
4. 1.4 ground mechanics and nonlinear motion system
4.2 Navigation sensor
4.2. 1 GPS
ultrasonic sensor
laser
4.2.4 Geomagnetic azimuth sensor
vision sensor
gyro
thread imbedding
4.3 Vehicle Motion Modeling
4.3. 1 Wheeled Vehicle Modeling
Modeling of tracked vehicles
4.3.3 Modeling of Walking Vehicles
Modeling of helicopter
4.3.5 State estimation based on Kalman filter
4.4 Vehicle control method
4.4. 1 classical control
4.4.2 Modern control
4.4.3 Adaptive Control and Learning Control
4.5 Operation Planning and Path Planning
4.5. 1 Traditional operation method and robot operation method
4.5.2 Path Generation Method
4.5.3 Optimization of Operation Plan
4.6 Safety and obstacle avoidance
4.6. 1 Vehicle automatic driving safety
self-diagnostic function
4.6.3 Obstacle detection methods and evasive actions
4.7 Multi-agent system
4.7. 1 Integrated system and autonomous decentralized system
4.7.2 Network Robot
4.7.3 Agricultural operation efficiency based on coordinated action
refer to
The answer to the exercise
Index 1 Mechanism of Agricultural Machinery and Starting Agricultural Robots
1. 1 agricultural robot startup
1.2 agricultural machinery
1.3 fertilizer (compost, powdery fertilizer, granular fertilizer, liquid fertilizer)
1.4 seeder (sowing, drilling and on-demand)
1.5 transplanter
1.6 vegetable transplanter
1.7 intertillage mower
1.8 Plant Protection Machinery
1.9 grain harvester
1. 10 dryland crop/vegetable/fruit harvester
1. 1 1 sorting/primary processing machinery
1. 12 forage harvesting machinery
1. 13 milking machinery
1. 14 handling machinery (electric trucks, monorail trucks)
2 Application examples of agricultural machine vision
2. 1 Spectral detection in soil
2.2 Chrysanthemum cutting
2.3 Cutting of Carnation and Geranium
2.4 Interrow weeding
2.5 Identification of crop rows
2.6 Identification of external environment based on laser rangefinder
2.7 Harvest of Tomato/Cherry Tomato
2.8 Harvest of cherry tomatoes/strawberries
2.9 Harvest of Eggplant
2. 10 cucumber harvest
2. 1 1 harvesting Chinese cabbage
2. Separation of12 Citrus
2. Separation of13 orange/lime
2. 14 peach sorting
2. 15 pear sorting
2. 16 apple sorting
2. 17 persimmon classification
2. 18 classification of lotus root/kiwifruit
2. 19 grape sorting
2.20 Classification of tomatoes
2.2 1 eggplant sorting
2.22 Classification of Cucumber/Bitter Melon
2.23 Classification of Green Pepper
2.24 Classification of potatoes/onions
2.25 Sorting asparagus
2.26 Primary processing and classification of green onions
2.27 Primary processing of cabbage and classification of large fruits
2.28 Separation of Cut Chrysanthemum Flowers
2.29 detection of wood
2.30 Detection and Treatment of Livestock/Forest/Seafood
Monitoring 2.3 1 cow
2.32 Application of terahertz wave image
2.33 Application of Hyperspectral Images (AOTF)
2.34 Application of Remote Sensing Images
3 Examples of end effector and mechanical arm of agricultural robot 3. 1 Seedling transplanting
3.2 Chrysanthemum cutting
3.3 grafting
3.4 pruning
3.5 Grape bagging
3.6 Grape thinning and shaping
3.7 Grape harvest
3.8 Harvest of Citrus/Apple
3.9 Strawberry Harvest (Soil Cultivation)
3. 10 strawberry harvest (aerial cultivation)
3. 1 1 tomato harvest
Harvest of cherry tomatoes
3. 13 Harvest of Eggplant
3. 14 harvesting and leaf picking of cucumber
3. 15 harvesting lettuce
3. 16 cabbage harvest
3. 17 watermelon harvest
3. 18 weight crop harvesting and operation auxiliary device
3. 19 mushroom harvest
3.20 Fruit classification
3.2 1 packaging of agricultural products
3.22 shearing wool
3.23 milking
3.24 Plant Factory
3.25 Packaging Treatment of Processed Food
4 Examples of vehicle automation 4. 1 by-wire control
4.2 Driver Assistance System
4.3 Automatic Walking System-1(GDS)
4.4 Automatic Walking System -2(GPS)
4.5 Automatic Walking System -3 (Vision)
4.6 Automatic tracking control
4.7 combine harvester fleet management system
4.8 Robot Tractor
4.9 Agricultural robots
4. 10 transplanting robot
4. 1 1 paddy field weeding robot
4. 12 mobile mechanism of greenhouse robot
4. 13 greenhouse plant protection robot
4. 14 orchard robot
4. 15 vision-based autonomous forage harvester
4. 16 lawn mowing robot
4. 17 steep slope fertilization robot
4. 18 monorail car
4. 19 gantry crane
4.20 crawler robot
4.2 1 legged robot
4.22 Robot Helicopter
4.23 Master-slave system
4.24 Remote control operation
refer to
Concluding remarks
index