Delivery of pollen to forsythia flower pistils autonomously and precisely using a robot arm

doi:10.1016/j.compag.2023.108274

CASIA OpenIR > 脑图谱与类脑智能实验室

	Delivery of pollen to forsythia flower pistils autonomously and precisely using a robot arm
	Yang, Minghao1,2 ; Lyu, Hongchang 1,2; Zhao, Yongjia 3; Sun, Yangchang1,2 ; Pan, Hang 1,7,8; Sun, Qi 4; Chen, Jinlong 5; Qiang, Baohua 5; Yang, Hongbo 6
发表期刊	COMPUTERS AND ELECTRONICS IN AGRICULTURE
ISSN	0168-1699
	2023-11-01
卷号	214 页码:13
通讯作者	Yang, Minghao(mhyang@nlpr.ia.ac.cn) ; Zhao, Yongjia(zhaoyongjia@buaa.edu.cn)
摘要	Autonomous pollination robots have received significant attention in recent years. It is expected that these robots will assist farmers in pollinating plants effectively. Despite employing various pollination methods, delivering pollen autonomously and precisely to pistils (the reproductive organs of flowers) remains a challenge. This is due to the small size of pistils, as well as difficulty in their rotation and orientation identification. Under this background, we present a novel method for detecting the orientation and area of the rotated pistil, known as PSTL_Orient, which we combine with servoing techniques and flower detection to develop an autonomous pollination robot. The experimental results demonstrate the superiority of our proposed PSTL_Orient in comparison to existing state-of-the-art methods in the detection of the orientation and rotation of pistil anchors. Additionally, the proposed pollination robot can achieve a 91.08 % accuracy in detecting flowers and an 86.19 % success rate in pollinating the small pistils of forsythia flowers. By being mounted on a ground vehicle, the proposed robotic arm system can help farmers in practical large-scale greenhouse environments.
关键词	Pollination robot Flower detection Pistil identification Convolutional neural network (CNN)
DOI	10.1016/j.compag.2023.108274
收录类别	SCI
语种	英语
资助项目	National Key Research & Development Program of China[2018AAA0102902] ; Guangxi Key Research and Development Program[AB21220038] ; Guangxi Key Research and Development Program[AB23026048] ; Science and Technology on Aerospace Flight Dynamics Laboratory[KGJ6142210210311] ; National Natural Science Foundation of China (NSFC)[61873269] ; Hebei Natural Science Foundation[L192005] ; Beijing Natural Science Foundation[2020GXNSFAA297061] ; Natural Science Foundation of Guangxi of China[2019GXNSFDA185006] ; Natural Science Foundation of Guangxi of China[2019GXNSFDA185007] ; Natural Science Foundation of Guangxi of China[J210012] ; [F2021205014]
项目资助者	National Key Research & Development Program of China ; Guangxi Key Research and Development Program ; Science and Technology on Aerospace Flight Dynamics Laboratory ; National Natural Science Foundation of China (NSFC) ; Hebei Natural Science Foundation ; Beijing Natural Science Foundation ; Natural Science Foundation of Guangxi of China
WOS研究方向	Agriculture ; Computer Science
WOS类目	Agriculture, Multidisciplinary ; Computer Science, Interdisciplinary Applications
WOS记录号	WOS:001098188200001
出版者	ELSEVIER SCI LTD
引用统计	被引频次：1[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/54461
专题	脑图谱与类脑智能实验室
通讯作者	Yang, Minghao; Zhao, Yongjia
作者单位	1.Chinese Acad Sci CASIA, Inst Automat, Res Ctr Brain Inspired Intelligence BII, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 3.Beihang Univ, State Key Lab Virtual Real Technol & Syst, Beijing 100191, Peoples R China 4.Zhejiang Sci Tech Univ, Sch Informat Engn, Hangzhou 310018, Zhejiang, Peoples R China 5.Guilin Univ Elect Sci & Technol, Guilin 541004, Guangxi, Peoples R China 6.Beijing Informat Sci & Technol Univ, Beijing 100096, Peoples R China 7.Beihang Univ, Jiangxi Res Inst, Nanchang 330096, Jiangxi, Peoples R China 8.Changzhi Univ, Dept Comp Sci, Changzhi 046011, Peoples R China
第一作者单位	中国科学院自动化研究所
通讯作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Yang, Minghao,Lyu, Hongchang,Zhao, Yongjia,et al. Delivery of pollen to forsythia flower pistils autonomously and precisely using a robot arm[J]. COMPUTERS AND ELECTRONICS IN AGRICULTURE,2023,214:13.
APA	Yang, Minghao.,Lyu, Hongchang.,Zhao, Yongjia.,Sun, Yangchang.,Pan, Hang.,...&Yang, Hongbo.(2023).Delivery of pollen to forsythia flower pistils autonomously and precisely using a robot arm.COMPUTERS AND ELECTRONICS IN AGRICULTURE,214,13.
MLA	Yang, Minghao,et al."Delivery of pollen to forsythia flower pistils autonomously and precisely using a robot arm".COMPUTERS AND ELECTRONICS IN AGRICULTURE 214(2023):13.