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

doi:10.1016/j.compag.2023.108274

CORC > 自动化研究所 > 中国科学院自动化研究所 > 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, Minghao 7,8; Lyu, Hongchang 7,8; Zhao, Yongjia 6; Sun, Yangchang 7,8; Pan, Hang 1,2,8; Sun, Qi 5; Chen, Jinlong 4; Qiang, Baohua 4; Yang, Hongbo 3
刊名	COMPUTERS AND ELECTRONICS IN AGRICULTURE
	2023-11-01
卷号	214 页码:13
关键词	Pollination robot Flower detection Pistil identification Convolutional neural network (CNN)
ISSN号	0168-1699
DOI	10.1016/j.compag.2023.108274
通讯作者	Yang, Minghao(mhyang@nlpr.ia.ac.cn) ; Zhao, Yongjia(zhaoyongjia@buaa.edu.cn)
英文摘要	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.
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]
WOS研究方向	Agriculture ; Computer Science
语种	英语
出版者	ELSEVIER SCI LTD
WOS记录号	WOS:001098188200001
资助机构	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
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/54460]
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.Changzhi Univ, Dept Comp Sci, Changzhi 046011, Peoples R China 2.Beihang Univ, Jiangxi Res Inst, Nanchang 330096, Jiangxi, Peoples R China 3.Beijing Informat Sci & Technol Univ, Beijing 100096, Peoples R China 4.Guilin Univ Elect Sci & Technol, Guilin 541004, Guangxi, Peoples R China 5.Zhejiang Sci Tech Univ, Sch Informat Engn, Hangzhou 310018, Zhejiang, Peoples R China 6.Beihang Univ, State Key Lab Virtual Real Technol & Syst, Beijing 100191, Peoples R China 7.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 8.Chinese Acad Sci CASIA, Inst Automat, Res Ctr Brain Inspired Intelligence BII, Beijing 100190, Peoples R China
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.