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1、Definition of a bio-production robotBio-production robot is a machine system, with or without a manipulator, is able to work in some area people cannot reach and bear or operate some task more efficiency than human. It has its own control algorithm and sensing system to manage a human intelligence.W
2、hy necessary?1. Some task are not suitable to human but require human intelligence to perform.2. The availability of farming labor is decreasing quickly in recent years.3. Labor shortage result in the increasing of workforce cost, making a increasing of this robot demanding.4. The demanding of produ
3、ct quality and quantity has become an important factor in bio-production and economic.Main physical properties of biological objectsBasic physical properties are shape, size, mass, density, surface texture;Dynamic properties are cutting resistance, frictional resistance, elasticity and viscostiry;Op
4、tical properties are reflectance and transmittance;Sonic properties are vibration property and wave propagation;Electrical properties are electrical resistance, capacitance and static electrical property.Features of bio-production robot1. Needs to be flexible and versatile in handling objects.2. Has
5、 the intelligence to recognize the surrounding of the objects.3. Able to work in a changeable, unstructured environments.4. Safety assurance is available when working with human in tandem.5. Easy to operate by human and cost effective in its monetary investment.Difference between bio-production robo
6、t and industrial robot.Industrial robot is good at handling objects with regular and static properties, but bio-production robot is often required to manipulate object of various properties.This image shows that designing a bio-production robot need to consider fields of social science, biotechnolog
7、y horticulture and engineering.Engineering Social science Biotechnology horticulture Then I need to illustrate each part of this images and would better to give out the connection and influence of that field.Components of bio-production robot (robotic hand should be developed based on as follows)1.
8、Manipulator: to carry out the task for the machine2. End-effector: to play a similar role of human hand at the end of manipulator3. Sensors: to detect the environments conditions or objects properties4. Traveling device: set up an bigger operation space of the manipulator5. Control device: to contro
9、l the robot components6. Actuator: to simulate or provide power for the robot.Advantages of digital machine vision system.Human vision system:1. Recognize and synthesize an image scene2. Extremely intelligent in image recognition and interpretation of scenes and objects even in a terrible environmen
10、t or with incomplete information with the help of incredible intelligence of brain.3. Limitation: only can recognize in visible region(400-700nm) and not able to make the feature quantification. Digital machine vision systems:1. Receive light in a wider region, even out of visible region.2. Provide
11、quantified information of objects feature.3. Suitable for repetitive tasks in an stable condition.Key components of it:1. Electronic camera, to convert image with the same function of human eyes.2. Image acquisition board: act as the analog and digital interfaces.3. Computer: act as human brains.4.
12、Lighting system: supply light.5. Software: analyze the information already collected.Spectral reflectance of one bio-production:You need to illustrate the image with following aspects:1. You would better to consider both x axis and y axis to analyze the difference2. If you are asked to separate two
13、objects, you would better to find out the biggest difference in their spectrums and describe you decision.Encorder:Position-sensitive device (PSD)The reflect light from an object is focus by a lens and become a small image on the sensitive surface of the PSD. Then we can confirm the images position
14、confirmed by the electricity difference of two anodes. And after analyze and calculate the ratio of two current intensities, we can know the distance of the object.Common types of photoelectric sensorsCommon photoelectric sensor consisted by two elements, a light beam transmitter with a LED and a re
15、ceiver composed of a photodiode or a phototransistor.In Through beam type, transmitter and receiver are set separately and facing each other. This system allows the detection of any object break the optical path, suitable for long-range, up to 30m.In reflex type, object break the optical path too, b
16、ut the transmitter and receiver are set together with a same direction. The light beam will reflected by a reflector set in distance. It is suitable for medium-range region from 0.1 to 10m.In diffuse type, receiver detect the light diffused by the surface of object. The object should close the detector. And the detect distance ranges fr
