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Development of a dual-arm rapid grape-harvesting robot for horizontal trellis cultivation

It is extremely necessary to achieve the rapid harvesting of table grapes planted with a standard trellis in the grape industry. The design and experimental analysis of a dual-arm high-speed grape-harvesting robot were carried out to address the limitations of low picking efficiency and high grape b...

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Autores principales: Jiang, Yingxing, Liu, Jizhan, Wang, Jie, Li, Wuhao, Peng, Yun, Shan, Haiyong
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9530818/
https://www.ncbi.nlm.nih.gov/pubmed/36204069
http://dx.doi.org/10.3389/fpls.2022.881904
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author Jiang, Yingxing
Liu, Jizhan
Wang, Jie
Li, Wuhao
Peng, Yun
Shan, Haiyong
author_facet Jiang, Yingxing
Liu, Jizhan
Wang, Jie
Li, Wuhao
Peng, Yun
Shan, Haiyong
author_sort Jiang, Yingxing
collection PubMed
description It is extremely necessary to achieve the rapid harvesting of table grapes planted with a standard trellis in the grape industry. The design and experimental analysis of a dual-arm high-speed grape-harvesting robot were carried out to address the limitations of low picking efficiency and high grape breakage rate of multijoint robotic arms. Based on the characteristics of the harvesting environment, such as the small gap between grape clusters, standard trellis, and vertical suspension of clusters, the configuration of the dual-arm harvesting robot is reasonably designed and analyzed, and the overall configuration of the machine and the installation position of key components are derived. Robotic arm and camera view analysis of the workspace harvesting process was performed using MATLAB, and it can be concluded that the structural design of this robot meets the grape harvesting requirements with a standard trellis. To improve the harvesting efficiency, some key high-speed harvesting technologies were adopted, such as the harvesting sequence decision based on the “sequential mirroring method” of grape cluster depth information, “one-eye and dual-arm” high-speed visual servo, dual arm action sequence decision, and optimization of the “visual end effector” large tolerance combination in a natural environment. The indoor accuracy experiment shows that when the degree of obscuration of grape clusters by leaves increases, the vision algorithm based on the geometric contours of grape clusters can still meet the demands of harvesting tasks. The motion positioning average errors of the left and right robotic arms were (X: 2.885 mm, Y: 3.972 mm, Z: 2.715 mm) and (X: 2.471 mm, Y: 3.289 mm, Z: 3.775 mm), respectively, and the average dual-arm harvesting time in one grape cluster was 8.45 s. The field performance test verifies that the average harvesting cycle of the robot with both arms reached 9 s/bunch, and the success rate of bunch identification and harvesting success rate reached 88 and 83%, respectively, which were significantly better than those of existing harvesting robots worldwide.
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spelling pubmed-95308182022-10-05 Development of a dual-arm rapid grape-harvesting robot for horizontal trellis cultivation Jiang, Yingxing Liu, Jizhan Wang, Jie Li, Wuhao Peng, Yun Shan, Haiyong Front Plant Sci Plant Science It is extremely necessary to achieve the rapid harvesting of table grapes planted with a standard trellis in the grape industry. The design and experimental analysis of a dual-arm high-speed grape-harvesting robot were carried out to address the limitations of low picking efficiency and high grape breakage rate of multijoint robotic arms. Based on the characteristics of the harvesting environment, such as the small gap between grape clusters, standard trellis, and vertical suspension of clusters, the configuration of the dual-arm harvesting robot is reasonably designed and analyzed, and the overall configuration of the machine and the installation position of key components are derived. Robotic arm and camera view analysis of the workspace harvesting process was performed using MATLAB, and it can be concluded that the structural design of this robot meets the grape harvesting requirements with a standard trellis. To improve the harvesting efficiency, some key high-speed harvesting technologies were adopted, such as the harvesting sequence decision based on the “sequential mirroring method” of grape cluster depth information, “one-eye and dual-arm” high-speed visual servo, dual arm action sequence decision, and optimization of the “visual end effector” large tolerance combination in a natural environment. The indoor accuracy experiment shows that when the degree of obscuration of grape clusters by leaves increases, the vision algorithm based on the geometric contours of grape clusters can still meet the demands of harvesting tasks. The motion positioning average errors of the left and right robotic arms were (X: 2.885 mm, Y: 3.972 mm, Z: 2.715 mm) and (X: 2.471 mm, Y: 3.289 mm, Z: 3.775 mm), respectively, and the average dual-arm harvesting time in one grape cluster was 8.45 s. The field performance test verifies that the average harvesting cycle of the robot with both arms reached 9 s/bunch, and the success rate of bunch identification and harvesting success rate reached 88 and 83%, respectively, which were significantly better than those of existing harvesting robots worldwide. Frontiers Media S.A. 2022-09-20 /pmc/articles/PMC9530818/ /pubmed/36204069 http://dx.doi.org/10.3389/fpls.2022.881904 Text en Copyright © 2022 Jiang, Liu, Wang, Li, Peng and Shan. 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
Jiang, Yingxing
Liu, Jizhan
Wang, Jie
Li, Wuhao
Peng, Yun
Shan, Haiyong
Development of a dual-arm rapid grape-harvesting robot for horizontal trellis cultivation
title Development of a dual-arm rapid grape-harvesting robot for horizontal trellis cultivation
title_full Development of a dual-arm rapid grape-harvesting robot for horizontal trellis cultivation
title_fullStr Development of a dual-arm rapid grape-harvesting robot for horizontal trellis cultivation
title_full_unstemmed Development of a dual-arm rapid grape-harvesting robot for horizontal trellis cultivation
title_short Development of a dual-arm rapid grape-harvesting robot for horizontal trellis cultivation
title_sort development of a dual-arm rapid grape-harvesting robot for horizontal trellis cultivation
topic Plant Science
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9530818/
https://www.ncbi.nlm.nih.gov/pubmed/36204069
http://dx.doi.org/10.3389/fpls.2022.881904
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