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Obstacle avoidance path planning for apple-picking robotic arms based on an improved RRT~*algorithm
Yin Bin;Yan Shengnan;Zhang Yanxia;Zhao Hanshuo;Zhang Suo;Addressing the obstacle avoidance path planning challenge for apple-picking robotic arms in complex orchard environments,this study employs a dynamic adaptive stride RRT~*algorithm to overcome the slow convergence and poor adaptability issues of the Rapidly-exploring Random Tree( RRT) algorithm. This method dynamically adjusts stride lengths based on environmental conditions,utilizing large strides for accelerated exploration in open areas and small strides for precise obstacle avoidance in densely obstructed zones. Simulation results demonstrate that compared to traditional fixed-step-size algorithms,this approach reduces planning time while effectively enhancing picking efficiency and safety.
Design and testing of a double-helix counter-rotating rollers red peony seed pods harvesting device
Liu Duo;Li Decai;Liu Chao;Wang Shuo;Wang Hongwei;To address issues such as the flexible texture of red peony roots,their strong adhesion to straw,and the high labor intensity and inconsistent results of manual harvesting,a dual-spiral counter-rotating roller red peony root harvesting device was designed and developed. Focusing on the spiral guidance and clamping-separation mechanism of the counter-rotating rollers,an analysis was conducted on the coordination between structural parameters( pitch,diameter,spacing,etc.) and operational parameters( forward speed,roller rotation speed). Two response metrics were measured: harvesting completeness rate and damage rate. Results from secondary model fitting indicated: R、R. Multi-objective optimization using an objective function yielded the optimal parameter combination,achieving approximately 98. 67% completeness rate and 3. 97% damage rate under this configuration. The research results demonstrate that the developed device can achieve high harvesting purity,low damage rates,and stable operation under typical Paeonia lactiflora cultivation conditions. This provides equipment and parameter references for the mechanization and large-scale production of Paeonia lactiflora harvesting.
Research on improved crop disease recognition method based on attention mechanism
Yan Ronglei;Yang Junqin;Liu Xiaoxiao;Yan Honglei;To address the problems of background interference and inconspicuous features in crop disease recognition tasks,this paper proposes an improved residual network model DRANet18 based on the attention mechanism. The model alleviates the feature reduction problem effectively through dual shortcut connections,and enhances the feature representation of disease regions by combining channel and spatial attention mechanisms. Verification was carried out on three types of soybean diseases: brown spot,gray leaf spot,and gray spot disease. The results show that DRANet18 outperforms the original Res Net18 model in terms of accuracy,recall and Macro-F1 score. The accuracy on the validation set is increased by 20%,and the recognition speed is significantly improved by approximately 46. 6%,demonstrating superior comprehensive performance. The model is suitable for crop disease recognition under complex backgrounds. The research aims to improve the accuracy and robustness of crop disease recognition and provide effective technical support for intelligent agricultural diagnosis.
Discrete element modeling and contact-parameter calibration of soybean seeds
Ma Pengyao;Zhang Dongming;Yuan Xinyu;To obtain key parameters required for discrete element method( DEM) simulation of soybean and to improve model reliability,soybean seeds of cultivar Suinong 26 were selected as the research object. Intrinsic properties and contact properties were measured,a spherical-equivalent DEM particle model was established,and contact parameters were calibrated using the angle of repose as the target response. A steepest-ascent search combined with a three-factor,three-level Box-Behnken design was employed to develop and optimize the regression model of the angle of repose. The optimal parameter combination was determined as a static friction coefficient of 0. 258,a rolling friction coefficient of 0. 035,and a coefficient of restitution of 0. 365; the corresponding predicted angle of repose was 27. 620 1°．Validation results showed that the simulated angle of repose under the calibrated parameter set was 27. 88°,with an average error of 0. 94% relative to the experimental mean,indicating that the established model and calibrated parameters can accurately reproduce the piling behavior of soybean particles.
Design and verification of a hand-shaped wearable device for prickly ash picking
Yao Yantao;Liu Ye;Wang Haoyu;Yang Zichen;As an important economic crop in China,Chinese prickly ash has long relied on manual picking or simple tools during its harvesting process. Traditional picking methods have become a key constraint restricting the development of the industry. These methods are not only inefficient and labor-intensive but also prone to stabbing injuries to pickers due to the special structural characteristics of prickly ash. In addition,manual operation makes it difficult to control picking force,which can damage the outer oil glands of the fruit and thus compromise the quality of harvested prickly ash. To address the problems of low efficiency,high cost,and frequent stabbing injuries in traditional prickly ash picking,this paper designs a hand-shaped wearable picking device for prickly ash. The device is fixed on the right hand through the cooperation of a bandage and a right-hand imitation plastic shell. A motor drives clamping blades via a reduction gear to achieve precise cutting,reducing labor intensity while protecting the fruit. Simulation verification shows that the device is feasible in design and can effectively overcome the shortcomings of traditional picking tools.
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Research on Educational Dynamics Mechanism of School-enterprise Cooperation in Mechanical Manufacturing in Applied Undergraduate Colleges and Universities
YU Zhenzhen;YIN Ningxia;ZHANG Jing;WANG Hongxuan;Applied undergraduate colleges and universities in mechanical manufacturing professional education in the school-enterprise cooperation teaching mode can make up for the gap between the combined theoretical education and the actual industrial demand, enrich the students' practical experience, and cultivate more market-adapted high-skilled talents for the mechanical manufacturing industry. This paper is based on the economic interests and social responsibility perspective, to build the mechanical manufacturing professional enterprises to participate in school-enterprise cooperation under the education power system, using case study and questionnaire survey method on 32 different sizes and types of enterprises, the results show that the primary motivation for enterprises to participate in the cell cooperation for the value of social responsibility and the pursuit of the enhancement of its brand image and social influence, and at the same time, can also be obtained from the potential R&D cooperation opportunities, and internal motivation because through school-enterprise cooperation they can cultivate suitable talents for the future technological development and innovation layout of enterprises. Based on this, this study provides suggestions on the future development direction of school-enterprise cooperation, aiming to promote school-enterprise cooperation to innovate cooperation modes and strategies to quickly adapt to the fast-changing industrial environment, and the results of this paper can provide insights for understanding and optimizing the cooperation between applied undergraduate colleges and enterprises in the professional education of mechanical manufacturing.
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The development situation of rice transplanter in car country
Shen Liang Han Xiuhai Geng ZhijieChina is a large agricultural nation,rice is our country's main food crop,but rice in production process of mechanization degree has not high,these two years,the government's strong support,there's a big change,unfolding paddy fields,but as the current mechanization of rice production situation in our country,our country has massive land throughout the argircultural situation have very big difference,so this process is a gradual process,not by leaps,in this process a lot of problems are,we need to face,to solve,we can better realize agricultural mechanization.
Design of Intelligent Car for Tracking Obstacle Avoidance Based on 51 Single Chip Microcomputer
SU Yan;ZHANG Yuxiang;WANG Ce;LI Guang;Intelligent cars have made significant progress in recent years, which integrate a variety of advanced technologies, the main feature is that it can be remotely controlled to achieve path recognition function, and has broad application prospects in industry. Based on the hardware structure and program design, an IoT intelligent car with tracking and obstacle avoidance function is designed, which can automatically identify the path and avoid obstacles in the process of progress, and can also display various parameters through the LCD screen. The design not only demonstrates the application potential of smart cars in IoT technology, but also provides a useful reference for further research and development of smart cars.
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Current Situation and Future Development Trend of Electric Vehicle Batteries
LI Juegui;HAN Minyi;Environmental pollution and energy crisis is undoubtedly the automotive industry must face the two major challenges,electric vehicles due to its unique advantages of green environmental protection to meet the development of The Times; Battery performance will be directly related to the safety of the vehicle and the length of the range. Through the analysis of the development and use of different types of batteries of electric vehicles,explore and forecast its future development trend.
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Journal Name: Agricultural Machinery Using & Maintenance
Founded: 1973
Competent authority: Heilongjiang Academy of Agricultural Sciences
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