论文标题
使用软件的模块化机器人李收集系统的设计和评估
Design and Evaluation of a Modular Robotic Plum Harvesting System Utilising Soft Components
论文作者
论文摘要
收集树木所需的人工是水果生产中的主要成本组成部分，并且正在增加。为了解决这个问题，许多现有的研究工作试图证明林作物的商业可行的机器人收获，尽管由此产生的成功的商业产品却很少且相距甚远。为特定农作物（例如甜辣椒或苹果）开发的系统已显示出希望，但是绝大多数品种类型仍然没有压力，并且为每种品种开发一个特定的系统效率低下。在这项工作中，提出了灵活的模块化开发平台，可用于测试有关不同水果和生长条件的特定设计选择。该系统在商业李子果园中进行评估，没有作物修饰。发现某些现有技术对于李子来说是适得其反的，而软机器人技术和持续目标跟踪显着提高了性能。观察到42％的收获成功率，基于先前用苹果测试的预期有效性低于预期效果。李子类型和生长风格构成了独特的挑战，这些挑战在系统模块设计选择的背景下进行了研究。
The human labour required for tree crop harvesting is a major cost component in fruit production and is increasing. To address this, many existing research works have sought to demonstrate commercially viable robotic harvesting for tree crops, though successful commercial products resulting from these have been few and far between. Systems developed for specific crops such as sweet peppers or apples have shown promise, but the vast majority of cultivar types remain unaddressed and developing a specific system for each one is inefficient. In this work a flexible and modular development platform is presented, this can be used to test specific design choices on different fruit and growing conditions. The system is evaluated in a commercial plum orchard, with no crop modifications. Some existing techniques are found to be counterproductive for plums, while soft robotics and persistent target tracking significantly improve performance. A harvest success rate of 42% was observed, with lower than expected effectiveness based on prior testing with apples. The plum type and growing style pose unique challenges which are examined in the context of system module design choices.
