Research Article Open Access

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

Kaikang Chen1, Yanwei Yuan2, Bo Zhao2, Liming Zhou2, Ruoshi Li3, Kang Niu2, Minghan Xu2, Changwei Wang2, Nana Han2, Xin Jin3 and Yongjun Zheng1
  • 1 College of Engineering, China Agricultural University, Beijing, China
  • 2 The State Key Laboratory of Soil, Plant and Machine System Technology, Chinese Academy of Agricultural Mechanization Sciences, Beijing, China
  • 3 College of Agricultural Equipment Engineering, Henan University of Science and Technology, Luoyang, China


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.

American Journal of Biochemistry and Biotechnology
Volume 18 No. 4, 2022, 370-377


Submitted On: 29 June 2022 Published On: 9 November 2022

How to Cite: Chen, K., Yuan, Y., Zhao, B., Zhou, L., Li, R., Niu, K., Xu, M., Wang, C., Han, N., Jin, X. & Zheng, Y. (2022). Research and Development for the Hurdle Avoidance During Transplanting Manipulation Based on Kinect Vision Processing. American Journal of Biochemistry and Biotechnology, 18(4), 370-377.

  • 3 Citations



  • Kincet Vision Processing
  • Inclined Transplanting Manipulator
  • Path Planning
  • Obstacle Avoidance