Research and Development for the Hurdle Avoidance During Transplanting Manipulation Based on Kinect Vision Processing

To avoiddamage to plants during the transplanting process, a transplanting method basedon the combination of the Kinect machine visual system and the low-damagetransplanting end effector was proposed to reduce the damage to the stems andleaves from transplanting end effectors during the transplanting process. Theinclined manipulator was designed can avoid the characteristics of the seedlingitself during the transplanting process to avoid obstacles. Under theexperimental condition, the oblique transplanting manipulator assisted by theKinect vision processing system achieved 4.70% leaf damage, 16.70% stem bending,83.45% substrate integrity, and the transplanting quality parameters were87.36%. The completion time of a single transplant was 8.32±0.4 s, the resultsproved that the low-damage transplanting manipulator based on the machinevision system can effectively reduce the damage rate of the stems and leaves.This obstacle avoidance transplant method can be extended to seedlings plantedin 50 plugs. Research and development for hurdle avoidance during transplantingmanipulation based on Kinect vision processing can provide theoretical supportfor future obstacle avoidance transplantation.