Research into the Parameters of a Robotic Platform for Harvesting Apples

Khort, Dmitriy; Kutyrev, Alexey; Smirnov, Igor

doi:10.1007/978-3-031-03877-8_13

Cited by 7 publications

(5 citation statements)

References 15 publications

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“…Based on the data obtained (single indicators of local autonomy), an assessment is carried out of the possibility of performing a planned task with the calculation of a generalized indicator (Figure 14). To calculate the generalized indicator of the local autonomy of the robotic platform, the methodology was used [16]. The level of autonomy of the planned task is determined by the formula: To calculate the generalized indicator of the local autonomy of the robotic platform, the methodology was used [16].…”

Section: Methodology For Measuring Indicators Of An Automatic Robotic...mentioning

confidence: 99%

“…To calculate the generalized indicator of the local autonomy of the robotic platform, the methodology was used [16]. The level of autonomy of the planned task is determined by the formula: To calculate the generalized indicator of the local autonomy of the robotic platform, the methodology was used [16]. The level of autonomy of the planned task is determined by the formula:…”

Section: Methodology For Measuring Indicators Of An Automatic Robotic...mentioning

confidence: 99%

“…Researchers D. Khort, A. Kutyrev, N. Kiktev et al [14][15][16][17][18], carried out the development and implementation of robotic platforms for agricultural production in the horticulture. In particular, the features of the developed robotic platform for harvesting strawberries [15], apples [16], processing plants with a solution in the form of hot mist [14] were described. The control system was based on an Arduino microcontroller and control software written in Python.…”

Section: Literature Review and Problem Statementmentioning

confidence: 99%

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Robotic Platform for Horticulture: Assessment Methodology and Increasing the Level of Autonomy

Kutyrev¹,

Kiktev

Jewiarz

et al. 2022

Sensors

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The relevance of the study is confirmed by the rapid development of automation in agriculture, in particular, horticulture; the lack of methodological developments to assess the effectiveness of the introduction of robotic technologies; and the need to expand the functionality of mobile robots. The purpose of the study was to increase the level of autonomy of a robotic platform for picking apple fruits based on a new method, develop a system of factors to determine the effectiveness of the introduction of robots in horticulture, and develop a control system using integrated processing of onboard data. The article discussed the efficiency factors for the introduction of robotic systems and technologies in agricultural enterprises specializing in horticulture within the framework of projects with different budgets. The study sample consisted of 30 experts—enterprises that have implemented robotic platforms and scientists specializing in this field. Based on an expert survey of enterprise specialists, a ranked list of 18 efficiency factors was obtained. To select an evaluation factor that determines the effectiveness of robotization and the developed control system, a method for calculating the concordance coefficient (method of expert analysis) was applied as a measure of the consistency of a group of experts for each group of factors. An analysis of the results of the expert evaluation showed that three factors are the most significant: the degree of autonomy of work; positioning accuracy; and recognition accuracy. The generalized indicator of local autonomy of task performance was estimated based on the analysis of a set of single indicators. A system for controlling the movement of an autonomous robotic wheeled platform based on inertial and satellite navigation and calculation of the path to be overcome was developed. The developed software allows for the design of a route for the robotic platform in apple horticulture to automatically perform various technological operations, such as fertilization, growth and disease control, and fruit harvesting. With the help of the software module, the X, Y coordinates, speed and azimuth of movement were given, and the movement of the platform along the given typical turn trajectories in an intensive horticulture environment was visualized.

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Section: Methodology For Measuring Indicators Of An Automatic Robotic...mentioning

confidence: 99%

Section: Methodology For Measuring Indicators Of An Automatic Robotic...mentioning

confidence: 99%

Section: Literature Review and Problem Statementmentioning

confidence: 99%

See 1 more Smart Citation

Robotic Platform for Horticulture: Assessment Methodology and Increasing the Level of Autonomy

Kutyrev¹,

Kiktev

Jewiarz

et al. 2022

Sensors

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“…The Digital Gardening scientific and production system involves expanding the scope of machines, equipment and software, including the widespread use of robotic tools in horticultural production and processing technologies, in order to increase production efficiency, eliminate the "human factor" in the production of products, replace human participation in production processes with a large proportion of heavy manual labor and minimizing the harmful effects of chemical protection products on humans and the environment [1][2][3][4][5]. Another reason for the intensification of the development and implementation of robotic tools with intelligent control systems in horticulture is the acute shortage of technologists and engineers in farms, due to the unattractiveness of work in the agro-industrial complex [6][7][8].…”

Section: Introductionmentioning

confidence: 99%

Multifunctional Robotic Device with Intelligent Positioning System

Filippov,

Khort

2024

E3S Web Conf.

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At the present stage of agricultural production development, Smart farming is widely used as a systematic transition from managing a separate technological operation to managing processes that ensure the achievement of the required level of overall profitability of production through the use of new decision-making tools and automated management technologies. This approach involves expanding the scope of machines, equipment and software, including the widespread use of robotic tools in horticultural production and processing technologies, in order to increase production efficiency, eliminate the “human factor” in the production of products, replace human participation in production processes with a large proportion of heavy manual labor and minimize harmful effects chemical protection products for humans and the environment. Another reason for the intensification of the development and implementation of robotic tools with intelligent control systems in agriculture is the shortage of technologists and engineers in farms, due to the unattractiveness of labor in the agro-industrial complex. The article discusses the issues of increasing the efficiency of industrial gardening, through the development and implementation of robotic systems and electric drive transformer modules in various technological processes. The features of the designs and practical application of robots with intelligent motion control systems on garden plantations are analyzed. The application of the block-modular principle of the layout of robotic machines is justified to increase the efficiency and productivity of their work in industrial gardening in various technological operations: plant care (spraying, milling of aisles) and harvesting.

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“…В частности, существуют прототипы колесных платформ для сбора плодов с помощью манипуляторов. При движении в рядах садовых насаждений маршрут обычно планируют заранее в соответствии с навигацией по проходам, а не по отдельным деревьям [6][7][8][9]. Например, платформа, движущаяся по предварительно спроектированной карте сада с коррекцией на основе лазерного сканирования, может перемещаться по проходу, избегать препятствия [10].…”

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Agricultural Autonomous Robotic Platform Motion Control

et al. 2023

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A model of the movement of a robotic platform adapted to the conditions of an industrial orchard is proposed. (Research purpose) Development of a motion control system for an autonomous robotic wheeled platform based on inertial and satellite navigation and traversed path calculation, which will allow it to move in an apple orchard and automatically perform various technological operations, such as fertilization, growth diseases control of, fruit harvesting. (Materials and methods) A mathematical model was developed to control the movement of a robotic platform, taking into account the turning radii of three types, the length of the arc of the performed circle, the speed of movement in the garden plantation rows using a garden electronic map. The method used allows implementing a program for the robotic platform automatic movement around a typical orchard using a minimum set of sensors, significantly reducing the load on the onboard computer processor and memory. Software, developed in the Python programming language, enables plotting the robotic platform route, displaying the movement trajectory, and indicating the positioning accuracy at each point in relation to the trees in the garden plantation rows, the movement speed and the wheel rotation angle. (Results and discussion) The robotic platform managed to autonomously pass the preset routes, while the interaction of the software and the robotic platform hardware was provided. A field testing of the developed software was performed. (Conclusions) The specified accuracy of the robotic platform positioning was confirmed for the 3.5-meter aisles of intensive orchards. The maximum deviation from the task map using satellite and inertial navigation system was 164 millimeters, which complies with the agrotechnical requirements for mechanized fruit harvesting.

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Research into the Parameters of a Robotic Platform for Harvesting Apples

Cited by 7 publications

References 15 publications

Robotic Platform for Horticulture: Assessment Methodology and Increasing the Level of Autonomy

Robotic Platform for Horticulture: Assessment Methodology and Increasing the Level of Autonomy

Multifunctional Robotic Device with Intelligent Positioning System

Agricultural Autonomous Robotic Platform Motion Control

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