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Featured Application: Sowing Rapeseed. The direct sowing of rapeseed requires shallow tillage for stubble removal, which can cause significant vibrations that impact the seed metering device, thereby affecting the quality of seeding. This study focuses on a double-row hole-wheel-type seed metering device on the 2BYG-220 type combined rapeseed planter. Initially, vibrations experienced by the seed drill during field operations were measured and analyzed, revealing that the vibration frequencies during field operations predominantly ranged between 0 and 25 Hz. Consequently, an eccentric wheel–return-spring-type vibration seed metering test rig was designed, manufactured, and set up. By swapping out the eccentric wheel on the test rig, the amplitude was mainly concentrated within 3 mm. The test results indicate that amplitude had a minimal impact on the performance of the double-row hole-wheel-type rapeseed seed metering device, whereas vibration frequency had a more significant effect. When the vibration frequency was between 0 and 10 Hz, the seed metering device maintained a stable output between 7.6 and 8.2 g/min, with minimal impact from vibrations: the coefficient of variation for seeding uniformity ranged between 35.81% and 44.58%, indicating stability and good uniformity. However, when the vibration frequency ranged from 10 to 24 Hz, the output of the seed metering device decreased rapidly and exhibited a linear relationship with frequency changes, with a determination coefficient (R2) of 0.92376. The coefficient of variation for seeding uniformity increased rapidly and also showed a linear relationship with frequency changes, with a determination coefficient (R2) of 0.87973. Vibrations with frequencies greater than 10 Hz had a considerable impact on the performance of the seed metering device. [ABSTRACT FROM AUTHOR]

Camellia oleifera fruits are randomly distributed in an orchard, and the fruits are easily blocked or covered by leaves. In addition, the colors of leaves and fruits are alike, and flowers and fruits grow at the same time, presenting many ambiguities. The large shock force will cause flowers to fall and affect the yield. As a result, accurate positioning becomes a difficult problem for robot picking. Therefore, studying target recognition and localization of Camellia oleifera fruits in complex environments has many difficulties. In this paper, a fusion method of deep learning based on visual perception and image processing is proposed to adaptively and actively locate fruit recognition and picking points for Camellia oleifera fruits. First, to adapt to the target classification and recognition of complex scenes in the field, the parameters of the You Only Live Once v7 (YOLOv7) model were optimized and selected to achieve Camellia oleifera fruits' detection and determine the center point of the fruit recognition frame. Then, image processing and a geometric algorithm are used to process the image, segment, and determine the morphology of the fruit, extract the centroid of the outline of Camellia oleifera fruit, and then analyze the position deviation of its centroid point and the center point in the YOLO recognition frame. The frontlighting, backlight, partial occlusion, and other test conditions for the perceptual recognition processing were validated with several experiments. The results demonstrate that the precision of YOLOv7 is close to that of YOLOv5s, and the mean average precision of YOLOv7 is higher than that of YOLOv5s. For some occluded Camellia oleifera fruits, the YOLOv7 algorithm is better than the YOLOv5s algorithm, which improves the detection accuracy of Camellia oleifera fruits. The contour of Camellia oleifera fruits can be extracted entirely via image processing. The average position deviation between the centroid point of the image extraction and the center point of the YOLO recognition frame is 2.86 pixels; thus, the center point of the YOLO recognition frame is approximately considered to be consistent with the centroid point of the image extraction. [ABSTRACT FROM AUTHOR]

In order to solve the problems of high labor intensity and low production efficiency in the cultivation of hemp in hilly areas, the seed arrangement performance of self-propelled hemp seeders was studied. According to the cultivation mode of hemp for the fiber industry in Yunnan, Sichuan, and other hilly areas, the seed metering device for the hemp industry was designed, the seed metering mechanism of hemp was analyzed, and the theoretical value range of design parameters of its key components was determined. The row of kind of wheel speed is obtained by single factor experiment, hole diameter and hole depth and uniformity of the seed, the seed of change rule, on the basis of the quadratic regression orthogonal rotation combination test, two indexes of the regression model, using the regression model of the design parameter optimization, and seeder row of kind of verification test, the results show that: when the rotation speed of the metering wheel was 90.0 r/min, the diameter of the hole was 10.4 mm, and the depth of the hole was 6.4 mm, the coefficient of variation of seeding uniformity of seeding machine was less than 45%, and the coefficient of variation for consistency of seed quantity in each row was less than 8%. The operation of the self-walking industrial hemp seeder met the requirements of fiber industrial hemp planting in hilly areas. [ABSTRACT FROM AUTHOR]

In the simulation analysis of the lily harvesting process, the intrinsic parameters of the lily bulb and the contact parameters between the lily bulb and the lily mechanized harvesting equipment (Q235 steel) are deficient. Thus, the three-axis size, density, moisture content, Poisson's ratio, elastic modulus, and other parameters of lily bulbs are measured in this paper with lily bulbs as the research object. Moreover, the discrete element model of the lily bulb was established using 3D scanning technology. The contact parameters between the lily bulb and Q235 steel were calibrated through bench test and simulation parameter test. The relative error between the measured value of the lily bulb accumulation angle and the simulated value is taken as response value to calibrate three parameters (collision recovery coefficient, static friction coefficient, and dynamic friction coefficient between lily bulbs). A regression model of the relative error of the stacking angle and three parameters is established, and the response surface is optimized. The results demonstrate that collision recovery coefficient, static friction coefficient, and dynamic friction coefficient between lily bulb and Q235 steel are 0.301, 0.423, and 0.063, respectively; these coefficients between lily bulbs are 0.455, 0.425, and 0.158, respectively. Additionally, a better combination of parameters is adopted to perform the simulation stacking test. The measured stacking angle is 32.31°, which is 0.34% in error with the stacking angle obtained by the physical stacking test. The test results suggest that the discrete element model and contact parameters of the lily bulb can be used in the discrete element simulation test. Furthermore, these research results could provide references for simulation tests, such as mechanized harvesting and post-harvest processing, of lily. [ABSTRACT FROM AUTHOR]

To address the problems of high damage rate, low seeding accuracy, and poor seeding generally in the seeding process, a general-purpose seeding device was designed in this study based on the principle of mechanical pneumatic combined seeding. The air-blowing-type cleaning and seed unloading of the device laid the conditions for precise seeding and flexible seeding. In addition, single-factor experiments were performed on seeds (e.g., soybeans, corn, and rape-seeds) with different particle sizes and shapes to verify the general properties of the seed metering device. A multi-factor response surface optimization experiment was performed by applying soybean seeds as the test object to achieve the optimal performance parameters of the seed metering device. At a seed-clearing air velocity of 16.7 m/s, a seed feeding drum speed of 13.7 r/min, and a hole cone angle of 35.6°, corresponding to the optimal performance index, the qualified index, the replay index, and the missed index reached 97.94%, 0.03%, and 2.03%, respectively. The verification test results are consistent with the optimized ones. As indicated from the results, the seed metering device exhibits good general properties, low damage rate, great precision, and high efficiency; it is capable of meeting general seeding operations of different crop seeds and technically supporting for the reliability and versatility of the seeder. [ABSTRACT FROM AUTHOR]

Cable is one of the most important parts on cable-stayed bridges. Its safety is very important. The aim of this study is to design an all-wheel-drive climbing robot based on safety recovery mechanism model for automatic inspection of bridge cables. For this purpose, a model of a three-wheel-drive climbing robot with high-altitude safety recovery mechanism is constructed and the basic performances such as climbing ability and anti-skidding properties are analyzed. Secondly, by employing the finite element method, natural frequency of the robot is calculated and that of a cable with concentrated masses is obtained through use of the Rayleigh quotient. Based on the mentioned quantities, the dynamic characteristics of the robot–cable system are further analyzed. In order to verify the climbing ability of the designed robot, a prototype of the robot is made, a robot testing platform is established and the climbing & loading experiments of the robot are carried out. The experiment results illustrated that the robot can carry a payload of 10 kg and safely return along the cable under the influences of inertial force. [ABSTRACT FROM AUTHOR]

Featured Application: Robotic Drilling. A robotic drilling end-effector is designed and modeled, and a sliding mode variable structure control architecture based on the reaching law is proposed for its normal adjustment dynamic control. By using a third-order nonlinear integration chain differentiator for obtaining the unmeasurable speed and acceleration signals from the position signals, this sliding mode control scheme is developed with good dynamic quality. The new control law ensures global stability of the entire system and achieves both stabilization and tracking within a desired accuracy. A real-time control experiment platform is established in xPC target environment based on MATLAB Real-Time Workshop (RTW) to verify the proposed control scheme and simulation results. Simulations and experiments performed on the designed robotic end-effector illustrate and clarify that the proposed control scheme is effective. [ABSTRACT FROM AUTHOR]