Research Progress of Urban Dual-arm Humanoid Grape Harvesting Robot

Abstract

Robotics has a very broad application prospect in the field of agriculture, and agricultural robots are attracting the attention of the whole society. Facing the new demand of the new urban production-leisure integrated industry, and in view of the shortcomings of the poor user friendliness and human-robot interaction of existing agricultural robots, a dual-arm humanoid “little expert” grape harvesting robot was developed. Base on the “one master-dual slaves” control architecture, the modular system of navigation-interaction-control-execution was constructed. The structural innovation such as fast electromechanical switching of different end-effectors, wiring-inside manipulator, and humanoid design were realized. The researches were focused on electronic compass-Lidar-RGBD fused navigation technology in trellis, the hand-arm collaborative control for non-destructive picking, voice-visual cross-media interaction, and the combination of artificial intelligence with robot. This dual-arm humanized robot has completed a series of testing. Based on the environment perception and the guidance of an electronic compass, the automatic pose diagnosis-adjusting and navigation of crawler chassis in trellis environment were realized. Besides, identification and positioning of grape cluster, the harvesting manner of gripping-cutting and flexible net holding, and the human-robot dialogue and voice manipulation were also achieved. It is expected to achieve major breakthroughs in various technologies in the near future and the commercialization of the dual-arm humanoid grape harvesting robot.