{"title":"非结构化环境下苹果采摘机器人的系统集成与控制方法研究","authors":"Qiaojun Zhou, Ruilong Gao, Zenghong Ma, Gonghao Cao, Jianneng Chen","doi":"10.1108/ir-11-2023-0282","DOIUrl":null,"url":null,"abstract":"<h3>Purpose</h3>\n<p>The purpose of this article is to solve the issue that apple-picking robots are easily interfered by branches or other apples near the target apple in an unstructured environment, leading to grasping failure and apple damage.</p><!--/ Abstract__block -->\n<h3>Design/methodology/approach</h3>\n<p>This study introduces the system units of the apple-picking robot prototype, proposes a method to determine the apple-picking direction via 3D point cloud data and optimizes the path planning method according to the calculated picking direction.</p><!--/ Abstract__block -->\n<h3>Findings</h3>\n<p>After the field experiments, the average deviation of the calculated picking direction from the desired angle was 11.81°, the apple picking success rate was 82% and the picking cycle was 11.1 s.</p><!--/ Abstract__block -->\n<h3>Originality/value</h3>\n<p>This paper describes a picking control method for an apple-picking robot that can improve the success and reliability of picking in an unstructured environment and provides a basis for automated and mechanized picking in the future.</p><!--/ Abstract__block -->","PeriodicalId":501389,"journal":{"name":"Industrial Robot","volume":"16 1","pages":""},"PeriodicalIF":0.0000,"publicationDate":"2024-01-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Research on system integration and control methods of an apple-picking robot in unstructured environment\",\"authors\":\"Qiaojun Zhou, Ruilong Gao, Zenghong Ma, Gonghao Cao, Jianneng Chen\",\"doi\":\"10.1108/ir-11-2023-0282\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<h3>Purpose</h3>\\n<p>The purpose of this article is to solve the issue that apple-picking robots are easily interfered by branches or other apples near the target apple in an unstructured environment, leading to grasping failure and apple damage.</p><!--/ Abstract__block -->\\n<h3>Design/methodology/approach</h3>\\n<p>This study introduces the system units of the apple-picking robot prototype, proposes a method to determine the apple-picking direction via 3D point cloud data and optimizes the path planning method according to the calculated picking direction.</p><!--/ Abstract__block -->\\n<h3>Findings</h3>\\n<p>After the field experiments, the average deviation of the calculated picking direction from the desired angle was 11.81°, the apple picking success rate was 82% and the picking cycle was 11.1 s.</p><!--/ Abstract__block -->\\n<h3>Originality/value</h3>\\n<p>This paper describes a picking control method for an apple-picking robot that can improve the success and reliability of picking in an unstructured environment and provides a basis for automated and mechanized picking in the future.</p><!--/ Abstract__block -->\",\"PeriodicalId\":501389,\"journal\":{\"name\":\"Industrial Robot\",\"volume\":\"16 1\",\"pages\":\"\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2024-01-22\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Industrial Robot\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1108/ir-11-2023-0282\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Industrial Robot","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1108/ir-11-2023-0282","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Research on system integration and control methods of an apple-picking robot in unstructured environment
Purpose
The purpose of this article is to solve the issue that apple-picking robots are easily interfered by branches or other apples near the target apple in an unstructured environment, leading to grasping failure and apple damage.
Design/methodology/approach
This study introduces the system units of the apple-picking robot prototype, proposes a method to determine the apple-picking direction via 3D point cloud data and optimizes the path planning method according to the calculated picking direction.
Findings
After the field experiments, the average deviation of the calculated picking direction from the desired angle was 11.81°, the apple picking success rate was 82% and the picking cycle was 11.1 s.
Originality/value
This paper describes a picking control method for an apple-picking robot that can improve the success and reliability of picking in an unstructured environment and provides a basis for automated and mechanized picking in the future.
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