Design of and Experiment with a Dual-Arm Apple Harvesting Robot System
Robotic harvesting has become an urgent need for the development of the apple industry, due to the sharp decline in agricultural labor. At present, harvesting apples using robots in unstructured orchard environments remains a significant challenge. This paper focuses on addressing the challenges of...
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-11-01
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| Series: | Horticulturae |
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| Online Access: | https://www.mdpi.com/2311-7524/10/12/1268 |
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| author | Wenlei Huang Zhonghua Miao Tao Wu Zhengwei Guo Wenkai Han Tao Li |
| author_facet | Wenlei Huang Zhonghua Miao Tao Wu Zhengwei Guo Wenkai Han Tao Li |
| author_sort | Wenlei Huang |
| collection | DOAJ |
| description | Robotic harvesting has become an urgent need for the development of the apple industry, due to the sharp decline in agricultural labor. At present, harvesting apples using robots in unstructured orchard environments remains a significant challenge. This paper focuses on addressing the challenges of perception, localization, and dual-arm coordination in harvesting robots and presents a dual-arm apple harvesting robot system. First, the paper introduces the integration of the robot’s hardware and software systems, as well as the control system architecture, and describes the robot’s workflow. Secondly, combining a dual-vision perception system, the paper adopts a fruit recognition method based on a multi-task network model and a frustum-based fruit localization approach to identify and localize fruits. Finally, to improve collaboration efficiency, a multi-arm task planning method based on a genetic algorithm is used to optimize the target harvesting sequence for each arm. Field experiments were conducted in an orchard to evaluate the overall performance of the robot system. The field trials demonstrated that the robot system achieved an overall harvest success rate of 76.97%, with an average fruit picking time of 7.29 s per fruit and a fruit damage rate of only 5.56%. |
| format | Article |
| id | doaj-art-c5f87b7dfd41452cbf0bca6939c98beb |
| institution | Kabale University |
| issn | 2311-7524 |
| language | English |
| publishDate | 2024-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Horticulturae |
| spelling | doaj-art-c5f87b7dfd41452cbf0bca6939c98beb2024-12-27T14:29:05ZengMDPI AGHorticulturae2311-75242024-11-011012126810.3390/horticulturae10121268Design of and Experiment with a Dual-Arm Apple Harvesting Robot SystemWenlei Huang0Zhonghua Miao1Tao Wu2Zhengwei Guo3Wenkai Han4Tao Li5School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, ChinaSchool of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, ChinaSchool of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, ChinaIntelligent Equipment Research Center, Beijing Academy of Agriculture and Forestry Sciences, Beijing 100097, ChinaIntelligent Equipment Research Center, Beijing Academy of Agriculture and Forestry Sciences, Beijing 100097, ChinaIntelligent Equipment Research Center, Beijing Academy of Agriculture and Forestry Sciences, Beijing 100097, ChinaRobotic harvesting has become an urgent need for the development of the apple industry, due to the sharp decline in agricultural labor. At present, harvesting apples using robots in unstructured orchard environments remains a significant challenge. This paper focuses on addressing the challenges of perception, localization, and dual-arm coordination in harvesting robots and presents a dual-arm apple harvesting robot system. First, the paper introduces the integration of the robot’s hardware and software systems, as well as the control system architecture, and describes the robot’s workflow. Secondly, combining a dual-vision perception system, the paper adopts a fruit recognition method based on a multi-task network model and a frustum-based fruit localization approach to identify and localize fruits. Finally, to improve collaboration efficiency, a multi-arm task planning method based on a genetic algorithm is used to optimize the target harvesting sequence for each arm. Field experiments were conducted in an orchard to evaluate the overall performance of the robot system. The field trials demonstrated that the robot system achieved an overall harvest success rate of 76.97%, with an average fruit picking time of 7.29 s per fruit and a fruit damage rate of only 5.56%.https://www.mdpi.com/2311-7524/10/12/1268applesharvesting robottarget perceptiondual-arm coordinationfield trials |
| spellingShingle | Wenlei Huang Zhonghua Miao Tao Wu Zhengwei Guo Wenkai Han Tao Li Design of and Experiment with a Dual-Arm Apple Harvesting Robot System Horticulturae apples harvesting robot target perception dual-arm coordination field trials |
| title | Design of and Experiment with a Dual-Arm Apple Harvesting Robot System |
| title_full | Design of and Experiment with a Dual-Arm Apple Harvesting Robot System |
| title_fullStr | Design of and Experiment with a Dual-Arm Apple Harvesting Robot System |
| title_full_unstemmed | Design of and Experiment with a Dual-Arm Apple Harvesting Robot System |
| title_short | Design of and Experiment with a Dual-Arm Apple Harvesting Robot System |
| title_sort | design of and experiment with a dual arm apple harvesting robot system |
| topic | apples harvesting robot target perception dual-arm coordination field trials |
| url | https://www.mdpi.com/2311-7524/10/12/1268 |
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