Design and evaluation of a robotic apple harvester using optimized picking patterns
Bu L. Chen C. Hu G. Sugirbay A. Sun H. Chen J.
July 2022Elsevier B.V.
Computers and Electronics in Agriculture
2022#198
A robotic apple harvester consisting of a mobile platform, a manipulator, an end-effector, a stereo camera, and a host computer was constructed and evaluated using two picking motions. The field tests showed all apple picking with success rates of 80.17% and 82.93% when using anthropomorphic and “horizontal pull with bending” motions, respectively. The main reasons for picking failure were depth misalignment, detachment failure, and blocked grasp. The “horizontal pull with bending” and anthropomorphic motions took 1.14 s and 3.13 s, respectively. The full picking cycle process using “horizontal pull with bending” motion was 12.53 ± 0.53 s, 4.64 s less than the average picking time when using anthropomorphic picking motion (17.17 ± 0.36 s). The picking process using anthropomorphic motion experienced a lower dynamic payload, meaning less effort would be required by the manipulator joints; however, fruit slipping decreased the overall success rate. The “horizontal pull with bending” picking motion had a superior picking cycle time and success rate. Notably, there were no stem-pulled or bruised apples during picking process using either motion. Based on this study, both picking motions have the potential to be applied in harvesting robots.
Apple detachment , Apple detection , Motion capture , Robotic apple harvester
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College of Mechatronic Engineering, North Minzu University, Ningxia, Yinchuan, 750021, China
College of Mechanical and Electronic Engineering, Northwest A＆F University, Yangling, 712100, China
Guizhou University of Traditional Chinese Medicine, Guiyang, 550025, China
Technical faculty, S. Seifullin Kazakh Agro Technical University, Nur-Sultan, 010000, Kazakhstan
College of Mechatronic Engineering
College of Mechanical and Electronic Engineering
Guizhou University of Traditional Chinese Medicine
Technical faculty
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