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Continuous identification of the tea shoot tip and accurate positioning of picking points for a harvesting from standard plantations

To address the current problems of large positioning error, low picking efficiency, and high cost of tea shoot picking, a continuous and precise harvesting scheme for tea shoots based on a two-dimensional (2D) perspective is designed in this study. A high-speed harvesting method for tea shoots in a...

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Autores principales: Luo, Kun, Zhang, Xuechen, Cao, Chengmao, Wu, Zhengmin, Qin, Kuan, Wang, Chuan, Li, Weiqing, Chen, Le, Chen, Wei
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2023
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10598852/
https://www.ncbi.nlm.nih.gov/pubmed/37885670
http://dx.doi.org/10.3389/fpls.2023.1211279
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author Luo, Kun
Zhang, Xuechen
Cao, Chengmao
Wu, Zhengmin
Qin, Kuan
Wang, Chuan
Li, Weiqing
Chen, Le
Chen, Wei
author_facet Luo, Kun
Zhang, Xuechen
Cao, Chengmao
Wu, Zhengmin
Qin, Kuan
Wang, Chuan
Li, Weiqing
Chen, Le
Chen, Wei
author_sort Luo, Kun
collection PubMed
description To address the current problems of large positioning error, low picking efficiency, and high cost of tea shoot picking, a continuous and precise harvesting scheme for tea shoots based on a two-dimensional (2D) perspective is designed in this study. A high-speed harvesting method for tea shoots in a standardized tea plantation assembly line type was proposed. First, a 2D view recognition model of tea shoot tips in a multi-disturbance environment was constructed, and accurate picking point coordinates were determined by combining a skeleton algorithm and curve growth. To avoid the losses of recognition accuracy caused by the mistaken clamping of blades and vibrations during harvester operations, accurate control of the harvester was realized by combining path planning and the S-curve speed control function. The recognition accuracy for the verification set of the recognition model was 99.9%, and the mean average precision (0.5:0.95) value was 0.97. The test results show that the error between the actual picking point position and the position determined by the model was within ± 3 mm, and the picking success rate was 83.6%. Therefore, we can realize fast and accurate picking of tea shoots and lay the foundation for continuous tea picking in the future by simplifying the identification and picking process.
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spelling pubmed-105988522023-10-26 Continuous identification of the tea shoot tip and accurate positioning of picking points for a harvesting from standard plantations Luo, Kun Zhang, Xuechen Cao, Chengmao Wu, Zhengmin Qin, Kuan Wang, Chuan Li, Weiqing Chen, Le Chen, Wei Front Plant Sci Plant Science To address the current problems of large positioning error, low picking efficiency, and high cost of tea shoot picking, a continuous and precise harvesting scheme for tea shoots based on a two-dimensional (2D) perspective is designed in this study. A high-speed harvesting method for tea shoots in a standardized tea plantation assembly line type was proposed. First, a 2D view recognition model of tea shoot tips in a multi-disturbance environment was constructed, and accurate picking point coordinates were determined by combining a skeleton algorithm and curve growth. To avoid the losses of recognition accuracy caused by the mistaken clamping of blades and vibrations during harvester operations, accurate control of the harvester was realized by combining path planning and the S-curve speed control function. The recognition accuracy for the verification set of the recognition model was 99.9%, and the mean average precision (0.5:0.95) value was 0.97. The test results show that the error between the actual picking point position and the position determined by the model was within ± 3 mm, and the picking success rate was 83.6%. Therefore, we can realize fast and accurate picking of tea shoots and lay the foundation for continuous tea picking in the future by simplifying the identification and picking process. Frontiers Media S.A. 2023-10-11 /pmc/articles/PMC10598852/ /pubmed/37885670 http://dx.doi.org/10.3389/fpls.2023.1211279 Text en Copyright © 2023 Luo, Zhang, Cao, Wu, Qin, Wang, Li, Chen and Chen https://creativecommons.org/licenses/by/4.0/This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
spellingShingle Plant Science
Luo, Kun
Zhang, Xuechen
Cao, Chengmao
Wu, Zhengmin
Qin, Kuan
Wang, Chuan
Li, Weiqing
Chen, Le
Chen, Wei
Continuous identification of the tea shoot tip and accurate positioning of picking points for a harvesting from standard plantations
title Continuous identification of the tea shoot tip and accurate positioning of picking points for a harvesting from standard plantations
title_full Continuous identification of the tea shoot tip and accurate positioning of picking points for a harvesting from standard plantations
title_fullStr Continuous identification of the tea shoot tip and accurate positioning of picking points for a harvesting from standard plantations
title_full_unstemmed Continuous identification of the tea shoot tip and accurate positioning of picking points for a harvesting from standard plantations
title_short Continuous identification of the tea shoot tip and accurate positioning of picking points for a harvesting from standard plantations
title_sort continuous identification of the tea shoot tip and accurate positioning of picking points for a harvesting from standard plantations
topic Plant Science
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10598852/
https://www.ncbi.nlm.nih.gov/pubmed/37885670
http://dx.doi.org/10.3389/fpls.2023.1211279
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