Performance improvements of dual-arm cooperative harvesting robot

Zhi He; Li Ma; Yinchu Wang; Yongjie Cui

doi:10.1117/12.2657096

18 October 2022 Performance improvements of dual-arm cooperative harvesting robot

Zhi He, Li Ma, Yinchu Wang, Yongjie Cui

Proceedings Volume 12349, International Conference on Agri-Photonics and Smart Agricultural Sensing Technologies (ICASAST 2022); 1234912 (2022) https://doi.org/10.1117/12.2657096
Event: International Conference on Agri-Photonics and Smart Agricultural Sensing Technologies (ICASAST 2022), 2022, Zhengzhou, China

Abstract

The growing area of kiwifruit in China has resulted in an annual increase in labor costs during the harvest period. In this paper, we present a dual-arm picking robot, which is specially designed for picking kiwifruit in trellis orchards to meet the needs of labor shortages. The performance improvement is reflected in the use of deep learning to identify on-site kiwifruit and formulate picking strategies to achieve the purpose of efficient picking. The harvesting robot consists of two robotic arms and a mobile platform. The end of the robotic arm is equipped with an end effector to ensure the safe picking of kiwifruit. The vision system consists of a deep learning system and an RGBD camera, and uses yoloV4 model to identify kiwifruit. The performance of the harvesting robot is evaluated by the test, and the results show that the harvesting success rate of the robot is 90%, and the target recognition rate is 95%.

Citation Download Citation

Zhi He, Li Ma, Yinchu Wang, and Yongjie Cui "Performance improvements of dual-arm cooperative harvesting robot", Proc. SPIE 12349, International Conference on Agri-Photonics and Smart Agricultural Sensing Technologies (ICASAST 2022), 1234912 (18 October 2022); https://doi.org/10.1117/12.2657096

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available