Researches on the tender leaf identification and mechanically perceptible plucking finger for high-quality green tea.

IF 3.3 2区农林科学 Q1 AGRICULTURE, MULTIDISCIPLINARY Journal of the Science of Food and Agriculture Pub Date : 2024-10-29 DOI:10.1002/jsfa.13987

Wei Zhang, Yong Chen, Qianqian Wang, Jun Chen

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Abstract

Background: Intelligent identification and precise plucking are the keys to intelligent tea harvesting robots, which are currently of increasing significance. Aiming at plucking tender leaves for high-quality green tea production, in this study, a tender leaf identification algorithm and a mechanically perceptible plucking finger have been proposed.

Results: Based on the segmentation algorithm and color features, the tender leaf identification algorithm shows an average identification accuracy of over 92.8%. The mechanically perceptible plucking finger plucks tender leaves in a way that a human hand does, aiming to maintain the high quality of tea products. Though finite element analysis, we determine the ideal size of grippers and the location of strain gauge attachment on a gripper to enable the employment of feedback control of desired gripping force. As revealed in our experiments, the success rate of tender leaf plucking reaches 92.5%, demonstrating the effectiveness of our design.

Conclusion: The results show that the tender leaf identification algorithm and the mechanically perceptible plucking finger are effective for identification of tender leaves and plucking, providing a foundation for the development of an intelligent tender leaf plucking robot. © 2024 Society of Chemical Industry.

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研究优质绿茶的嫩叶识别和机械感知采摘指。

背景：智能识别和精确采摘是智能采茶机器人的关键，其重要性日益凸显。针对优质绿茶生产中的嫩叶采摘问题，本研究提出了一种嫩叶识别算法和一种机械可感知的采摘手指：结果：基于分割算法和颜色特征，嫩叶识别算法的平均识别准确率超过 92.8%。可机械感知的采摘手指以人手的方式采摘嫩叶，旨在保持茶叶产品的高品质。通过有限元分析，我们确定了理想的抓手尺寸和抓手上应变计的安装位置，以便对所需的抓取力进行反馈控制。实验结果表明，摘取嫩叶的成功率达到 92.5%，证明了我们设计的有效性：结果表明，嫩叶识别算法和可机械感知的采摘手指能有效识别嫩叶并进行采摘，为开发智能嫩叶采摘机器人奠定了基础。© 2024 化学工业协会。

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来源期刊

Journal of the Science of Food and Agriculture 工程技术-农业综合

CiteScore

8.10

自引率

4.90%

发文量

634

审稿时长

3.1 months

期刊介绍： The Journal of the Science of Food and Agriculture publishes peer-reviewed original research, reviews, mini-reviews, perspectives and spotlights in these areas, with particular emphasis on interdisciplinary studies at the agriculture/ food interface. Published for SCI by John Wiley & Sons Ltd. SCI (Society of Chemical Industry) is a unique international forum where science meets business on independent, impartial ground. Anyone can join and current Members include consumers, business people, environmentalists, industrialists, farmers, and researchers. The Society offers a chance to share information between sectors as diverse as food and agriculture, pharmaceuticals, biotechnology, materials, chemicals, environmental science and safety. As well as organising educational events, SCI awards a number of prestigious honours and scholarships each year, publishes peer-reviewed journals, and provides Members with news from their sectors in the respected magazine, Chemistry & Industry . Originally established in London in 1881 and in New York in 1894, SCI is a registered charity with Members in over 70 countries.