Design and experiment of facility elevated planting strawberry continuous picking manipulator

IF 7.7 1区农林科学 Q1 AGRICULTURE, MULTIDISCIPLINARY

Computers and Electronics in Agriculture Pub Date : 2024-11-29 DOI:10.1016/j.compag.2024.109703

Minghui Wang , Zhengdong Zhou , Yulong Wang , Jian Xu , Yongjie Cui

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引用次数: 0

Abstract

Strawberry picking manipulator is one of the key factors affecting the effectiveness of robot picking operations, elevated strawberries cultivated off the ground with hanging fruits provide convenient conditions for automatic strawberry picking. In order to adapt to the small space of elevated strawberry picking operation and to solve the problem of discontinuous picking process, a P-P-R-P type continuous strawberry picking manipulator was proposed. Based on the elevated cultivation mode and the clamping-shear picking method, the structural parameters and control system of the continuous picking manipulator were determined. The kinematics model of the continuous picking manipulator was established, the Jacobian condition number and performance of each joint in the picking operation were solved, and its flexibility and operability were analyzed. According to the growth characteristics of elevated strawberries, the picking simulation routes and operation cycles were set. Using MATLAB software, the simulation tests were carried out to analyze the working space of the continuous picking manipulator, the maximum speed and acceleration changes of each joint. In order to improve the success rate of strawberry picking, the operating parameters such as rotational speed, end picking angle and clamping position of the continuous picking manipulator were optimized using Box-Behnken test. Based on the simulation results and parameter optimization results, a continuous picking manipulator and motion control system were constructed and validation tests were conducted. The results showed that the average picking success rate of the continuous picking manipulator was 74.21 %, and the average picking efficiency was 12.87 s per piece. In conclusion, the P-P-R-P type continuous picking manipulator proposed in this study meets the automated operation requirements of strawberry picking and can be adapted to the elevated operating environment.

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设施高架草莓连续采摘机械手的设计与试验

草莓采摘机械手是影响机器人采摘作业效果的关键因素之一，离地栽培的高架草莓挂果为草莓自动采摘提供了便利条件。为了适应高架草莓采摘作业空间小，解决采摘过程不连续的问题，提出了一种P-P-R-P型草莓连续采摘机械手。基于高架栽培方式和夹剪采摘方式，确定了连续采摘机械手的结构参数和控制系统。建立了连续拾取机械手的运动学模型，求解了拾取作业中各关节的雅可比条件个数和性能，并对其灵活性和可操作性进行了分析。根据高架草莓的生长特点，设置了模拟采摘路线和操作周期。利用MATLAB软件进行仿真试验，分析了连续拾取机械手的工作空间、各关节的最大速度和加速度变化情况。为了提高草莓采摘的成功率，采用Box-Behnken试验对连续采摘机械手的转速、末端采摘角度、夹紧位置等操作参数进行了优化。基于仿真结果和参数优化结果，构建了连续拾取机械手及其运动控制系统，并进行了验证试验。结果表明，连续采摘机械手的平均采摘成功率为74.21%，平均采摘效率为12.87 s /件。综上所述，本研究提出的P-P-R-P型连续采摘机械手满足草莓采摘的自动化操作要求，能够适应高架作业环境。

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来源期刊

Computers and Electronics in Agriculture 工程技术-计算机：跨学科应用

CiteScore

15.30

自引率

14.50%

发文量

800

审稿时长

62 days

期刊介绍： Computers and Electronics in Agriculture provides international coverage of advancements in computer hardware, software, electronic instrumentation, and control systems applied to agricultural challenges. Encompassing agronomy, horticulture, forestry, aquaculture, and animal farming, the journal publishes original papers, reviews, and applications notes. It explores the use of computers and electronics in plant or animal agricultural production, covering topics like agricultural soils, water, pests, controlled environments, and waste. The scope extends to on-farm post-harvest operations and relevant technologies, including artificial intelligence, sensors, machine vision, robotics, networking, and simulation modeling. Its companion journal, Smart Agricultural Technology, continues the focus on smart applications in production agriculture.