No.1呂騰浩No.2朱宇豪No.3蔣昊錚No.4柴巧會(huì)BIOSYSTEMSENGINERRING,ZHEJIANGUNIVERSITYPottedPlantsDisplayRobotCONTENTSPAGEUnit1LocalizationSystemUnit2

MechanismUnit3MachineVisionUnit4

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circuitandself-trackingsystemWhatarepottedplants？infraredsensors+capacitiveproximitysensorLocalizationsystem-Howtohowtosensethepositionofpottedplantsinitiallyandgetclosetotheminfraredsensorsshortresponsetimeandsmallemssionangle(lessthan5°）capacitiveproximitysensorverypreciseandsensitivetonon-mentaltarget(potsareusuallymadeofplasticorceramic)Inmydesign,therearetwopairsofinfraredsensorsandonecapacitiveproximitysensorthatshouldbeinstalledintherobot.Iplantoputinfraredsensorsinthemiddleandleftfrontoftherobot,andputcapacitiveproximitysensorinthemiddlefrontoftherobot.TheinstallmentofsensorsWiththerobotmovingsideways,firstlytwopairsofinfraredsensorsemitinfraredsignalsanddetectwhetherpottedplantsexistintherightfrontofsensors.Whenthesensorsreceivetheinfraredreflectedbythepots,robotswillstopandmoveforwardforthepots.Thenwhenrobotgetscloseenoughtothepots,capacitiveproximitysensorwillcontroltherobottostopandexecutenextstepslikegrabbing.[Themethodofdetection]OnlyoneobjectinfrontofrobotInthiscase,it’seasyforustodetect,approachandgrabthepottedplantsAbecausethereisnootherobstaclesdisturbingrobot’swork.TheinfraredsensorAdoesn’treceivereflectedsignalsandtheinfraredsensorBreceivessignalsreflectedbypotA.ObviouslyrobotcandirectlymovestraightforthepotAandgrabitinthissituation.[Threepossiblesituations]PotAinfrontofrobotbutPotBasanobstacleInthiscase,it’seasyforustodetectpottedplantsAbutnoteasytoapproachandgrabitbecausepotBasanobstacledisturbingrobot’swork.TheinfraredsensorBreceivessignalsreflectedbypotA.However,theinfraredsensorAreceivessignalsreflectedbyobstacleB,whichcanhelpcontroltherobotsandavoidmovingforward.[Threepossiblesituations]PotAinfrontofrobotandPotBbehindPotAInthiscase,sensorAreceivesthesignalsreflectedbypotBanditmistakespotBforanobstacle.Infraredsensorshavethefunctionofdistancemeasurementbecausetheintensityofreflectedsignalsshowsapositivecorrelationwithdistance.IfsensorBreceivesstrongersignals,wecanguesspotAiscloserthanB,robotcanmovestraightforAandgrabit.OtherwisepotBiscloserthanAandrobotcannotmovestraight.[Threepossiblesituations]IfsensorBdoesn’treceivesignals,robotshouldkeepmovingsideways.IfsensorBreceivessignalsandsensorAdoesn’treceivesignalsoritsreceivedsignalsareweakerthansensorB,robotcanmovestraightforthepottedplantandgrabit.IfsensorBreceivessignalsandsensorAreceivesstrongersignalsthansensorB,robotshouldkeepmovingsideways.SummaryofallabovesituationsThemoduleofinfraredemissionconsistsofasimpleamplifierandtransistorscircuit.ThecircuitofinfraredemissionWhenthereceiversensesthereflectedsignals,itwillsetupcurrentwhoseintensityhaspositivecorrelationwiththeintensityofsignals.Aftertheamplifiercircuit,analog-voltagewillbeproducedandconvertaninputinthesingle-chip.ThecircuitofinfraredreceptionThecommunicationcircuitdependsonserialdatacommunication.Thesingle-chipreceivesandprocessthedataandthenconveythecontroldatatoexecutivemodule.ThecommunicationcircuitofinfraredsensorThecontrolcircuitofcapacitiveproximitysensorconsistsoftheradiofrequencyoscillatingcircuitanddetectiveplate.ThecontrolcircuitofcapacitiveproximitysensorEndofmypart—*—Unit1LocalizationSystemUnit2

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circuitandself-trackingsystemInordertoenhancethemarketcompetitivenessofenterprises,Netherlandsdevelopstheirautomatedproductionequipmentsystemsdramatically.Inthesectionofpottedplanttransport,therearethreemainwaystotransport.2.1IntroductionWhenitturnstothepottedplantswhicharerequiredtobedisplayedintheschoolorinthesquare,thesedevicescannotbeused.What'smore,thisworkcanbetiringandboring.Asaresult,itisnecessaryandimportanttoinventannewrobot.2.1Introduction2.2WorkObjectsWorkObjectspotinruinspottedplanttwofunctionstransplantthepottedplantsanddisplaytheminthedesignedordershovelthepotinruinsaswellastheplantandthesoil.2.3

DesignplanThekeycomponentsoftherobotareend-effector,manipulator,

actuator,sensor,travelingdevices,ingdevicemachinevisionelevator-platformsorientationsensorslinepatrolsensorsmanipulatorend-effector2.3

Designplan2.4Innovationpoints1、Themanipulatorhastwojointsandtheend-effectorhasonejointwhichareimitatethearmandhandofhuman.Asaresult,therobotcanworkefficientlyandstably.2、Therobothastwofunctions.Itcannotonlytransplantthepottedplantsanddisplaytheminthedesignedorder,butcanshovelthepotinruinsaswellastheplantandthesoil.2.5ForegroundExpectation1、Thefunctionofthevisiondeviceandsensorsdeviceintherobotcanbeimprovedsothattherobotcandetectandrecordtheplantandenvironmentinformationwhenittransportanddisplaythepottedplants.2、Theshapeoftheend-effectorshouldbeimprovedsothatthepotinruinsandthesoilwon’tfallwhentheyareshoveledbytherobot.Endofmypart—*—Unit1LocalizationSystemUnit3MachineVisionUnit2

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circuitandself-trackingsystem1IntroductionMachinevisionisthetechnologyandmethodsusedtoprovideimaging-basedautomaticinspectionandanalysisforsuchapplicationsasautomaticinspection,processcontrol,robotguidanceandetc.Whenmachinevisionsareusedfortheagriculture,itproducesAMAZINGreactions~2MachineVisionappliedtoOURROBOTMaturity:judgessizesofbudsColor:detectsthecolorofbudsMachineVision[]twomainfunctions2MachineVisionappliedtoOURROBOT3Process-MaturityAsforthesizesofbuds,programscancallfunctionsofminboundrectwhichcangetparametersofMaxLengthbyMER.Maturity:judgessizesofbudsColor:detectsthecolorofbudsMachineVision[]twomainfunctions2MachineVisionappliedtoOURROBOT4Process-ColorThresholdvaluesofYELLOW=245ThresholdvaluesofRED=230ThresholdvaluesofPURPLE=140Problem?Thereneverexistsarobottransportingpottedplantstoarrangeandbeautifyanarea.Pottedplanttransporterrobotisaninspiringidea.Firstofall,itcarriesoutthetransportingtaskevenwithoutanyhelpfromhumanbeings.Itreducesalargeamountoflaborioustasksthatusedtobeonlydonebyhumanbeings.Althoughitisatotallynewidea,itfreesalotofworkforceanditisreallymeaningful.Inaddition,thejudgmentofmaturity(sizes)bymachinevisionismoreaccuratethanbyhuman’seyes.Ifpottedplantsarechosenbypottedplanttransporter,thetimeofblossomwillbemorelikelyatthesametime.Sothearrangedareawillbemoreuniformandbeautifulattheblossomtime.What’smore,althoughIfocusonmachinevisionofpottedplanttransporter,theend-effectors,positionsensorsandcontrollingdevicehavefeaturesofcreativity.4InnovativePointsChallengePottedplanttransporterisaninspiringbutimmatureidea.Asformachinevision,theprogramjustprocessesthecircleswiththeblackbackground,ratherthanbudsinphotos.Theresultsoftheprogramjustifythefeasibilityofmachinevision.However,theprogramisto