Development and Evaluation of a Watermelon-Harvesting Robot Prototype: Vision System and End-Effector
| Autor: | Jiacheng Rong, Jun Fu, Zhiqin Zhang, Jinliang Yin, Yuzhi Tan, Ting Yuan, Pengbo Wang |
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| Jazyk: | angličtina |
| Rok vydání: | 2022 |
| Předmět: | |
| Zdroj: | Agronomy, Vol 12, Iss 11, p 2836 (2022) |
| Druh dokumentu: | article |
| ISSN: | 12112836 2073-4395 |
| DOI: | 10.3390/agronomy12112836 |
| Popis: | Over the past decade, there have been increasing attempts to integrate robotic harvesting technology into agricultural scenarios to reduce growing labour costs and increase crop yields. In this paper, we demonstrate a prototype harvesting robot for picking watermelons in greenhouses. For robotic harvesting, we design a dedicated end-effector for grasping fruits and shearing pedicels, which mainly consists of a flexible gripper and a cutting device. The improved YOLOv5s–CBAM is employed to locate the watermelon fruits with 89.8% accuracy on the test dataset, while the K-means method is used to further refine the segmentation of the watermelon point cloud in the region of interest. Then, the ellipsoid is fitted with the segmented fruit point cloud to obtain the lowest point of the ellipsoid as the grasping point. A series of tests conducted in a laboratory simulation scenario proved that the overall harvesting success rate was 93.3% with a positioning error of 8.7 mm when the watermelon was unobstructed. The overall harvesting success rate was 85.0% with a positioning error of 14.6 mm when the watermelon was partially obscured by leaves. |
| Databáze: | Directory of Open Access Journals |
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