Determination of robotic melon harvesting efficiency: a probabilistic approach

Moshe Mann, Boaz Zion, Itzhak Shmulevich and Dror Rubinstein

International Journal of Production Research, 2016, vol. 54, issue 11, 3216-3228

Abstract: To automate the harvesting of melons, a mobile Cartesian robot is developed that traverses at a constant velocity over a row of precut melons whose global coordinates are known. The motion planner is programmed to have the robot harvest as many melons as possible. Numerous simulations of the robot over a field with different sets of randomly distributed melons resulted in nearly identical percentages of melons harvested. This result holds true over a wide range of robot dimensions, motor capabilities, velocities and melon distributions. Using probabilistic methods, we derive these results by modelling the robotic harvesting procedure as a stochastic process. In this simplified model, a harvest ratio is predicted analytically using Poisson and geometric distributions. Further analysis demonstrates that this model of robotic harvesting is an example of an infinite length Markov chain. Applying the mathematical tools of Markov processes to our model yields a formula for the harvest percentage that is in strong agreement with the results of the simulation. The significance of the approach is demonstrated in two of its applications: to select the most efficient actuators for maximal melon harvesting and determine the set of optimal velocities along a row of melons of varying densities.

Date: 2016
References: View complete reference list from CitEc
Citations:

Downloads: (external link)
http://hdl.handle.net/10.1080/00207543.2015.1081428 (text/html)
Access to full text is restricted to subscribers.

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:taf:tprsxx:v:54:y:2016:i:11:p:3216-3228

Ordering information: This journal article can be ordered from
http://www.tandfonline.com/pricing/journal/TPRS20

DOI: 10.1080/00207543.2015.1081428

Access Statistics for this article

International Journal of Production Research is currently edited by Professor A. Dolgui

More articles in International Journal of Production Research from Taylor & Francis Journals
Bibliographic data for series maintained by Chris Longhurst ().