Picking Path Optimization of Agaricus bisporus Picking Robot

The design and application of the mushroom picking robot will greatly reduce the labor cost, and it has become one of the research hotspots in the world. Therefore, we independently developed an A. bisporus (a kind of mushroom) picking robot and introduced its functional principle in this paper. At...

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Bibliographic Details
Published in:Mathematical problems in engineering 2019, Vol.2019 (2019), p.1-16
Main Authors: Xiaomei, Hu, Lv, Shunke, Pan, Zhaoren
Format: Article
Language:English
Subjects:
Cameras
Computer simulation
Engineering
Exploration
Genetic algorithms
Modules
Mushrooms
Optimization
Optimization techniques
Order picking
Robots
Run time (computers)
Search algorithms
Simulated annealing
Software
Traveling salesman problem
Work stations
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Summary:The design and application of the mushroom picking robot will greatly reduce the labor cost, and it has become one of the research hotspots in the world. Therefore, we independently developed an A. bisporus (a kind of mushroom) picking robot and introduced its functional principle in this paper. At the same time, in order to improve the picking efficiency of the picking robot, a picking path optimization algorithm based on TSP model is proposed. Firstly, based on the TSP model, a picking route model for A. bisporus was established to determine the storage location of each A. bisporus. Then, an improved simulated annealing (I-SA) search algorithm is proposed to find the optimal path sequence. By improving the path initialization module, path generation module, and temperature drop module, the I-SA search algorithm can optimize the picking path in a short time. Finally, in order to improve the stability and reduce the running time of the I-SA search algorithm, a parallel optimization method for global search (“rough exploration”) and local search (“precision exploration”) is proposed. Through simulation experiments, the I-SA search algorithm can search stable and excellent path solution in a relatively short time. Through field experiments on mushroom base, the efficiency of picking A. bisporus can be improved by 14% to 18%, which verifies the effectiveness of the I-SA search algorithm.
ISSN:1024-123X
1563-5147
DOI:10.1155/2019/8973153