Application of a Mobile Robot for Picking Berries Under Qualitative Uncertainty of Conditions

Abstract

Over the last decade, the development of computer technology has progressed significantly, which allowed to automate many production processes through the use of intelligent control systems. The possibility of creating modern control systems that allow solving complex multi-factor tasks in conditions of uncertainty has significantly expanded the scope of application of robotics. The article considers an approach to solving one of the tasks of controlling an intelligent mobile robot for agricultural purposes – selecting the order of application of the robot for picking berries. The procedure for decision-making by an intelligent control system for a mobile robot under the qualitative uncertainty of berry picking conditions has been developed. This procedure can be implemented by developing software. The approach proposed by the authors to solving such problems can be used not only for control the intelligent mobile robot for picking berries, but also for other purposes. The article presents the results of applying the developed method for solving the task of control the agricultural mobile robot for picking strawberry in the climatic conditions of Central Russia.

Design of Flexible Spherical Fruit and Vegetable Picking End-effector Based on Vision Recognition

“…As the most important part of the picking robot, there are many kinds of end-effectors of picking robots, and according to their driving methods, there are pneumatic, linear, SMA and EAP driving methods, etc [8,9]. Although the end-effectors have been researched for a long time and developed in a wide range of types, they are still faced with a large rate of picking damage, poor versatility, low success rate of picking, etc.…”