• Datum: 2024-06-29 13:38:44
• Firma: Polytechnic of Milan
• Ansprechpartner: Mr. Gianluca Bardaro
• E-Mail: gianluca.bardaro@polimi.it
• Anschrift: Via Ponzio 34/5, 20133 Milano
• Telefon: 393505369946
• Land: Italia
• Awareness:
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This research project investigates the application of autonomous fruit picking within a controlled, simulated espalier apple orchard environment. The orchard features apple trees trained to grow flat against vertical trellises, mimicking the structured layout commonly found in commercial orchards. This standardized environment allows for precise testing and refinement of the robotic fruit-picking system. The mobile robotic platform, equipped with the Igus Rebel 6-DoF robotic arm and advanced sensing capabilities, navigates the orchard rows, accurately identifying and harvesting ripe apples. The system employs a stereo depth camera for perception and a soft pneumatic gripper actuator for grasping the fruits on the tree.

The agricultural industry faces significant challenges in fruit harvesting, including:
– Labor Shortages: A declining agricultural workforce and seasonal fluctuations make it difficult to secure reliable labor for timely fruit picking. This leads to potential crop loss and economic strain.
– Rising Costs: Increasing labor costs and market pressures demand greater efficiency in harvesting operations to maintain profitability.
– Ergonomic Concerns: Manual fruit picking is physically demanding, leading to worker fatigue and potential injuries. Long hours in challenging conditions can compromise worker well-being and productivity.
– Consistency and Quality: Ensuring consistent picking quality and minimizing damage to fruit during manual harvesting is difficult to achieve consistently across a large workforce.
– Sustainability: Automated picking processes help in contributing to sustainable agriculture practices by reducing reliance on chemical pesticides and optimizing resource utilization.

The autonomous fruit-picking system developed in this research project addresses these challenges by:
– Optimizing Labor Allocation: Automating the repetitive and strenuous task of fruit picking frees up human workers to focus on higher-value tasks, such as crop management, quality control, and orchard maintenance.
– Cost Reduction: Reducing the reliance on manual labor lowers operational costs associated with wages, benefits, and worker turnover. Increased efficiency in harvesting further contributes to cost savings.
– Increased Efficiency: The robotic system operates tirelessly, harvesting fruit around the clock, maximizing yield and minimizing the risk of crop loss due to delayed picking. The consistent and precise grasping mechanism ensures no damage to the fruit, improving overall quality.
– Improved Working Conditions: Automating hazardous and physically demanding tasks improves worker safety and well-being, reducing the risk of injuries and fatigue.

ReBeL – 6 DOF

Estimated cost savings € Not evaluated yet

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