Construction and Optimization of a Collaborative Harvesting System for Multiple Robotic Arms and an End-Picker in a Trellised Pear Orchard Environment
In order to meet the needs of intensive mechanized picking in trellised pear orchards, this paper designed a pick-place integrated end-picker based on the analysis of agronomic characteristics of trellised pear gardens and fruit. In order to realize the accurate positioning of pears in picking, base...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-12-01
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| Series: | Agronomy |
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| Online Access: | https://www.mdpi.com/2073-4395/14/1/80 |
| _version_ | 1797344811464785920 |
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| author | Hewen Zhang Xiaoguang Li Ling Wang Dian Liu Shubo Wang |
| author_facet | Hewen Zhang Xiaoguang Li Ling Wang Dian Liu Shubo Wang |
| author_sort | Hewen Zhang |
| collection | DOAJ |
| description | In order to meet the needs of intensive mechanized picking in trellised pear orchards, this paper designed a pick-place integrated end-picker based on the analysis of agronomic characteristics of trellised pear gardens and fruit. In order to realize the accurate positioning of pears in picking, based on the kinematic analysis of robot arms and the construction of a private dataset, the YOLOv5s object detection algorithm was used in conjunction with a depth camera to achieve fruit positioning. The hand–eye system calibration was carried out. Aiming at solving the problems of redundancy, inefficiency, and uneven distribution of task volume in the conventional multiple robot arms algorithm, a simulated annealing algorithm was introduced to optimize the picking sequence, and a task allocation method was proposed. On the basis of studying several key parameters affecting the performance of the algorithm, the picking efficiency was greatly optimized. And the effectiveness of the proposed multi-robot collaborative picking method in a trellised pear orchard environment was demonstrated through experiments and simulation verification. The experiments showed that the picking efficiency of the integrated end-picker was increased by about 30%, and the success rate was significantly higher than that of the flexible grippers. The results of this study can be utilized to advance robotic pear-picking research and development. |
| first_indexed | 2024-03-08T11:08:21Z |
| format | Article |
| id | doaj.art-4e53cd4918f84028ab75e45f9e4368a7 |
| institution | Directory Open Access Journal |
| issn | 2073-4395 |
| language | English |
| last_indexed | 2024-03-08T11:08:21Z |
| publishDate | 2023-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Agronomy |
| spelling | doaj.art-4e53cd4918f84028ab75e45f9e4368a72024-01-26T14:22:28ZengMDPI AGAgronomy2073-43952023-12-011418010.3390/agronomy14010080Construction and Optimization of a Collaborative Harvesting System for Multiple Robotic Arms and an End-Picker in a Trellised Pear Orchard EnvironmentHewen Zhang0Xiaoguang Li1Ling Wang2Dian Liu3Shubo Wang4School of Automation, Institute of Intelligent Unmanned System, Qingdao University, Qingdao 266071, ChinaSchool of Automation, Institute of Intelligent Unmanned System, Qingdao University, Qingdao 266071, ChinaCollege of Engineering, China Agricultural University, Beijing 100083, ChinaCollege of Engineering, China Agricultural University, Beijing 100083, ChinaSchool of Automation, Institute of Intelligent Unmanned System, Qingdao University, Qingdao 266071, ChinaIn order to meet the needs of intensive mechanized picking in trellised pear orchards, this paper designed a pick-place integrated end-picker based on the analysis of agronomic characteristics of trellised pear gardens and fruit. In order to realize the accurate positioning of pears in picking, based on the kinematic analysis of robot arms and the construction of a private dataset, the YOLOv5s object detection algorithm was used in conjunction with a depth camera to achieve fruit positioning. The hand–eye system calibration was carried out. Aiming at solving the problems of redundancy, inefficiency, and uneven distribution of task volume in the conventional multiple robot arms algorithm, a simulated annealing algorithm was introduced to optimize the picking sequence, and a task allocation method was proposed. On the basis of studying several key parameters affecting the performance of the algorithm, the picking efficiency was greatly optimized. And the effectiveness of the proposed multi-robot collaborative picking method in a trellised pear orchard environment was demonstrated through experiments and simulation verification. The experiments showed that the picking efficiency of the integrated end-picker was increased by about 30%, and the success rate was significantly higher than that of the flexible grippers. The results of this study can be utilized to advance robotic pear-picking research and development.https://www.mdpi.com/2073-4395/14/1/80fruit pickingmultiple robotic armsend-pickertarget detectiontask planning |
| spellingShingle | Hewen Zhang Xiaoguang Li Ling Wang Dian Liu Shubo Wang Construction and Optimization of a Collaborative Harvesting System for Multiple Robotic Arms and an End-Picker in a Trellised Pear Orchard Environment Agronomy fruit picking multiple robotic arms end-picker target detection task planning |
| title | Construction and Optimization of a Collaborative Harvesting System for Multiple Robotic Arms and an End-Picker in a Trellised Pear Orchard Environment |
| title_full | Construction and Optimization of a Collaborative Harvesting System for Multiple Robotic Arms and an End-Picker in a Trellised Pear Orchard Environment |
| title_fullStr | Construction and Optimization of a Collaborative Harvesting System for Multiple Robotic Arms and an End-Picker in a Trellised Pear Orchard Environment |
| title_full_unstemmed | Construction and Optimization of a Collaborative Harvesting System for Multiple Robotic Arms and an End-Picker in a Trellised Pear Orchard Environment |
| title_short | Construction and Optimization of a Collaborative Harvesting System for Multiple Robotic Arms and an End-Picker in a Trellised Pear Orchard Environment |
| title_sort | construction and optimization of a collaborative harvesting system for multiple robotic arms and an end picker in a trellised pear orchard environment |
| topic | fruit picking multiple robotic arms end-picker target detection task planning |
| url | https://www.mdpi.com/2073-4395/14/1/80 |
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