• 综合
  • 标题
  • 关键词
  • 摘要
  • 学者
  • 期刊-刊名
  • 期刊-ISSN
  • 会议名称
搜索

作者:

Li, Xingxu (Li, Xingxu.) | Ma, Nan (Ma, Nan.) | Han, Yiheng (Han, Yiheng.) | Yang, Shun (Yang, Shun.) | Zheng, Siyi (Zheng, Siyi.)

收录:

EI Scopus

摘要:

To address the limitations inherent to conventional automated harvesting robots specifically their suboptimal success rates and risk of crop damage, we design a novel bot named AHPPEBot which is capable of autonomous harvesting based on crop phenotyping and pose estimation. Specifically, In phenotyping, the detection, association, and maturity estimation of tomato trusses and individual fruits are accomplished through a multi-task YOLOv5 model coupled with a detectionbased adaptive DBScan clustering algorithm. In pose estimation, we employ a deep learning model to predict seven semantic keypoints on the pedicel. These keypoints assist in the robot's path planning, minimize target contact, and facilitate the use of our specialized end effector for harvesting. In autonomous tomato harvesting experiments conducted in commercial green-houses, our proposed robot achieved a harvesting success rate of 86.67%, with an average successful harvest time of 32.46 s, showcasing its continuous and robust harvesting capabilities. The result underscores the potential of harvesting robots to bridge the labor gap in agriculture. © 2024 IEEE.

关键词:

Microrobots Nanorobots Risk assessment End effectors Agricultural robots Robot programming Risk perception Machine design Fruits Motion planning

作者机构:

  • [ 1 ] [Li, Xingxu]Beijing University of Technology, Faculty of Information Technology, Beijing; 100124, China
  • [ 2 ] [Li, Xingxu]Beijing AIForce Technology Co., Ltd., 6 Chuangye Road, Haidian District, Beijing; 100085, China
  • [ 3 ] [Ma, Nan]Beijing University of Technology, Faculty of Information Technology, Beijing; 100124, China
  • [ 4 ] [Han, Yiheng]Beijing University of Technology, Faculty of Information Technology, Beijing; 100124, China
  • [ 5 ] [Yang, Shun]Beijing AIForce Technology Co., Ltd., 6 Chuangye Road, Haidian District, Beijing; 100085, China
  • [ 6 ] [Zheng, Siyi]Beijing AIForce Technology Co., Ltd., 6 Chuangye Road, Haidian District, Beijing; 100085, China

通讯作者信息:

电子邮件地址:

查看成果更多字段

相关关键词:

相关文章:

来源 :

ISSN: 1050-4729

年份: 2024

页码: 18150-18156

语种: 英文

被引次数:

WoS核心集被引频次:

SCOPUS被引频次:

ESI高被引论文在榜: 0 展开所有

万方被引频次:

中文被引频次:

近30日浏览量: 3

归属院系:

在线人数/总访问数:453/4965827
地址:北京工业大学图书馆(北京市朝阳区平乐园100号 邮编:100124) 联系我们:010-67392185
版权所有:北京工业大学图书馆 站点建设与维护:北京爱琴海乐之技术有限公司