KOALA: A Modular Dual-Arm Robot for Automated Precision Pruning Equipped with Cross-Functionality Sensor Fusion
2024
Charan Vikram | Sidharth Jeyabal | Prithvi Krishna Chittoor | Sathian Pookkuttath | Mohan Rajesh Elara | Wang You
Landscape maintenance is essential for ensuring agricultural productivity, promoting sustainable land use, and preserving soil and ecosystem health. Pruning is a labor-intensive task among landscaping applications that often involves repetitive pruning operations. To address these limitations, this paper presents the development of a dual-arm holonomic robot (called the KOALA robot) for precision plant pruning. The robot utilizes a cross-functionality sensor fusion approach, combining light detection and ranging (LiDAR) sensor and depth camera data for plant recognition and isolating the data points that require pruning. The You Only Look Once v8 (YOLOv8) object detection model powers the plant detection algorithm, achieving a 98.5% pruning plant detection rate and a 95% pruning accuracy using camera, depth sensor, and LiDAR data. The fused data allows the robot to identify the target boxwood plants, assess the density of the pruning area, and optimize the pruning path. The robot operates at a pruning speed of 10&ndash:50 cm/s and has a maximum robot travel speed of 0.5 m/s, with the ability to perform up to 4 h of pruning. The robot&rsquo:s base can lift 400 kg, ensuring stability and versatility for multiple applications. The findings demonstrate the robot&rsquo:s potential to significantly enhance efficiency, reduce labor requirements, and improve landscape maintenance precision compared to those of traditional manual methods. This paves the way for further advancements in automating repetitive tasks within landscaping applications.
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