Agriculture 13 00882 v2

agriculture
Article
Design and Test of an Automatic Navigation
Fruit-Picking Platform
Shaojiong Huang 1 , Kaoxin Pan 1 , Sibo Wang 1 , Ying Zhu 1 , Qing Zhang 1, *, Xin Su 2 and Hongjun Yu 2
1 College of Engineering, China Agricultural University, Beijing 100083, China; shjhuang@21cn.com (S.H.)
2 Beijing Institute of Space Launch Technology, Beijing 100076, China
* Correspondence: zhangqingbit@cau.edu.cn
Abstract: With the development in agricultural mechanization and information technology, orchard
agricultural machinery is also constantly pursuing the goal of intelligence and efficiency. Fruit
picking is the most labor-intensive part of the orchard harvesting process. In order to resolve
the problems of high labor intensity, low picking efficiency, and labor shortage when harvesting
dwarf high-density orchards, an automatic navigation fruit-picking platform with voice control was
developed in the present study. First, the platform utilized a voice-controlled high-level extendable
working platform and a fruit-box-lifting device to adapt to varying orchard planting row spacing
and enable convenient fruit box loading and unloading. Second, an automatic navigation system,
which employed China’s Beidou navigation satellite system to acquire positional data and the
Stanley algorithm for path-tracking control, was implemented. Third, the fruit-picking platform with
automatic navigation system was fabricated and assembled, its outer wheel steering was measured to
have a maximum angle of 30.3◦ and an average minimum turning radius of 4.5 m, meeting the turning
radius requirements under orchard conditions. Finally, automatic navigation tests of the developed
platform were performed in the orchard conditions. The results indicated that the platform could
maintain a straight-line path with a maximum lateral deviation of 101.5 mm and a maximum absolute
average deviation of 44.1 mm at 0.4 m/s. Under the U-shaped paths, the measured maximum lateral
deviation was 148.6 mm and the maximum absolute average deviation was 57.2 mm. The navigation
accuracy was sufficient to meet the requirements for the harvesting platform’s routine operation in
the orchards.
Citation: Huang, S.; Pan, K.; Wang,
S.; Zhu, Y.; Zhang, Q.; Su, X.; Yu, H.
Design and Test of an Automatic
Keywords: picking platform; automatic navigation; voice control; path tracing
Navigation Fruit-Picking Platform.
Agriculture 2023, 13, 882. https://
doi.org/10.3390/agriculture13040882
1. Introduction
Academic Editor: Galibjon
China is a major producer of fruits and has been at the forefront of the world’s fruit
M. Sharipov
production in terms of yield and planting area since the 20th century [1]. In 2021, the total
Received: 29 March 2023 planted area with fruits in China reached 166.7492 million acres, and the yield reached
Revised: 15 April 2023 89.6154 million tons, both of which exceed half of the world’s total production [2]. Fruit
Accepted: 15 April 2023 picking is one of the most labor-intensive processes in fruit production [3]. Currently,
Published: 17 April 2023 manual picking is still the main method of fruit picking in China, and is limited by high
labor intensity, low picking efficiency and economic benefits, and significant safety hazards,
which severely restrict the industrialization of fruit production [4,5].
Based on the current situation of fruit cultivation [6–9], it is necessary to design a
Copyright: © 2023 by the authors.
fruit-picking platform that is highly mechanized and intelligent with good applicability
Licensee MDPI, Basel, Switzerland.
to assist manual picking and improve picking efficiency [10–18]. The development of
This article is an open access article
fruit-picking platforms in China started relatively late, and there is still a large gap in
distributed under the terms and
conditions of the Creative Commons
functionality, operational efficiency, and applicability compared with the advanced pick-
Attribution (CC BY) license (https://
ing platforms [19–26]. Therefore, how to integrate existing intelligent technologies into
creativecommons.org/licenses/by/ harvesting platforms is a very practical issue.
4.0/).
Agriculture 2023, 13, 882. https://doi.org/10.3390/agriculture13040882 https://www.mdpi.com/journal/agriculture

Agriculture 2023, 13, 882 2 of 25
Thomas Bak et al. applied automatic navigation technology to agricultural machinery

and designed and manufactured an unmanned field test platform. The platform used
four-wheel steering and had good maneuverability in the field. The field test results
showed that the maximum tracking error was less than 1.6 cm when the platform was
traveling at a speed of 0.2 m/s; at a speed of 1.6 m/s, the maximum tracking error was
less than 10.7 cm [27]. Thomas Bell et al. from Stanford University used the CP-DGPS
navigation positioning method to apply the automatic navigation system to the John Deere
7800 tractor. The navigation system mainly includes an automatic navigation control termi-
nal, an automatic steering controller, a GPS satellite receiver, etc. Based on this, Thomas Bell
et al. studied the tracking control algorithm for curved paths and the experimental results
showed that the average tracking error was around 5 cm [28]. Many other researchers
have also applied technologies such as automatic navigation and speech recognition to
agricultural machinery [29–32]. Furthermore, most of the fruit-picking platforms in China
are manually operated. Yang et al. designed a multifunctional, fully hydraulic orchard
operating platform. The platform has a scissor-type lifting structure that can adapt to the
picking of fruits at different heights of fruit trees and also adopts a stretchable workbench
that can adapt to the picking of fruits in a large range of row spacing [33]. Hou Zhiwei et al.
developed the 3GP-80 multi-functional wheeled work platform. The platform adopts a
wheeled walking mode and the driving mechanism and lifting mechanism are completed
through a hydraulic control system. The hydraulic motor is used to achieve stepless speed
regulation and the maximum vertical lifting height can reach 1.5 m. The expansion device
is used to increase the lateral area of the work platform [34]. However, those platforms
lack intelligence and require manual operation of the platforms to get to the relevant work
area. For fruit orchards with larger planting distances, the fruit-picking process is more
cumbersome. For instance, when the fruit box is full, the operators have to stop picking
and move the fruit box to the ground before continuing the picking work, resulting in low
efficiency and high labor intensity.
In order to reduce the labor intensity and enhance the intelligence of orchard picking
machinery, the present study creates an automatic navigation fruit-picking platform by
combining the advantages of manually operated picking platforms. The platform can be
navigated autonomously in the orchard without manual operation. Furthermore, with a
voice control system, the extension of the extendable work platform and the lifting of the
fruit-box-lifting device can be conducted automatically, bringing the benefits of improving
work efficiency and reducing labor intensity.
2. Materials and Methods

2.1. Machine Structure and Working Principle
2.1.1. Machine Structure
The fruit-picking platform mainly consists of six parts, i.e., the driving system, steering
system, braking system, chassis, hydraulic system, and working platform. The overall
structure of the platform is shown in Figure 1. The driving system consists of a battery, a
drive motor, a differential, a rear axle transmission, and wheels. The steering system adopts
full hydraulic steering containing a hydraulic steering system and an electric steering wheel.
The steering cylinder and hydraulic steering gear are connected by oil pipes.
The chassis serves as the supporting structure, with a high-level extendable working
platform mounted on the top and fruit-box-lifting devices installed at the front and rear
ends. A low-level working platform, driving system, and electrical control cabinet are
located at the bottom. The hydraulic system includes two parts, i.e., the steering hydraulic
system and the working hydraulic system. The working hydraulic system provides power
to the fruit-box-lifting device and the high-level extendable working platform, while the
steering hydraulic system provides hydraulic assistance when the platform is turning.
Agriculture 2023, 13, x FOR PEER REVIEW 3 of 26
Agriculture 2023, 13, 882 3 of 25

14
15
16
17
14
15
16
17
13
12
11
10
9
8
7
6 13
1 2 3 4 5 12
11
10
Figure 1. Structural diagram of automatic navigation fruit-picking platform. 1, 12 and 15 represent
Figure 1. Structural diagram of automatic navigation fruit-picking platform. 1, 12 and 15 represent
the fruit box transportation track, 2 represents the support frame, 3 represents the chains, 4 and 11
9
the fruitthebox
represent transportation
hydraulic track,the2 drive
cylinder,85 represents represents the support
motor, 6 represents the wheel, frame, 3 represents the chains, 4 and 11
7 represents
the low-level working platform, 7 8 represents the body support, 9 represents the electric control cab-
represent the hydraulic6 cylinder, 5 represents the drive motor, 6 represents
inet, 10 represents the guard rail, 13 represents the slide rail, 14 represents the electric steering wheel, the wheel, 7 represents the
1 2 working
16 represents
low-level the 4 5
3 expansion pedal, and 17
platform, 8 represents
represents the high-level
the body working platform.
support, 9 represents the electric control cabinet,
Figure
10 1. Structural
represents diagram
the guard of automatic
rail, 13navigation
represents fruit-picking
the of platform.
slide 1,14
rail,right12represents
and 15 represent
the electric steering wheel, 16
Thebox
the fruit high-level extendable
transportation track, working platform
2 represents consists
the support frame, 3left and
represents theexpansion ped-
chains, 4 and 11
als, expansion
represents hydraulic
the expansion
represent the hydraulic cylinders, sliding
cylinder, 5 pedal, and
represents rails, and a workbench.
17 represents
the drive The expansion
the high-level
motor, 6 represents pedals
working
the wheel, 7 represents platform.
are driven byworking
the low-level hydraulic cylinders
platform, to extend
8 represents the left
bodyand right,9as
support, shown in
represents theFigure
electric2.control
The low-
cab-
level working
inet, 10 platform
represents consists
the guard of a seat,the
rail, 13 represents a backrest, and
slide rail, 14 represents which
hinges,the aresteering
electric fixed to the
wheel,
chassis
The
16 represents high-level
the expansion
by hinges
extendable
pedal,
for workers toand
pick17up
working
represents
low-level
platform
thefruits. consists
high-level working platform. of left and right expansion pedals,
expansion hydraulic cylinders, sliding rails, and a workbench. The expansion pedals are
The high-level extendable working platform consists of left and right expansion ped-
driven by hydraulic cylinders to extend left and right, as shown in Figure 2. The low-level
als, expansion hydraulic cylinders, sliding rails, and a workbench. The expansion pedals
working
are driven byplatform consists
hydraulic cylinders of a seat,
to extend a right,
left and backrest, and
as shown hinges,
in Figure 2. Thewhich
low- are fixed to the chassis
level
by workingfor
hinges platform consists
workers toofpick
a seat,up
a backrest,
low-level fruits.which are fixed to the
and hinges,
chassis by hinges for workers to pick up low-level fruits.
Figure 2. Structural diagram of the high-level expendable working platform. 1 and 5 represent the
expansion pedals, 2 and 4 represent the hydraulic cylinders, and 3 represents the sliding rails.
Figure 2. Structural diagram of the high-level expendable working platform. 1 and 5 represent the
Figure Structural
expansion2.pedals, diagram
2 and 4 represent of the high-level
the hydraulic cylinders, and expendable working
3 represents the sliding rails. platform. 1 and 5 represent the
expansion pedals, 2 and 4 represent the hydraulic cylinders, and 3 represents the sliding rails.
The box-lifting device consists of a support frame, a sliding frame, a fruit box transport
device, and a lifting hydraulic cylinder. There is one fruit-box-lifting device installed at the
front and the rear of the platform, respectively, making it easy to load and unload the fruit
boxes. The fruit box transportation route is shown in Figure 3. In order to make the picking
platform more intelligent, automatic navigation technology and voice control technology
are used based on the overall design. The picking platform can achieve autonomous
driving in the orchard through the automatic navigation system, the fruit-box-lifting device
can be lifted, and the high-level extendable working platform can be extended through
voice control. The electrical control cabinet is used to place electronic components, receive
external signals, and control the stable operation of each system.
The box-lifting device consists of a support frame, a sliding frame, a fruit box
transport device, and a lifting hydraulic cylinder. There is one fruit-box-lifting device in-
stalled at the front and the rear of the platform, respectively, making it easy to load and
unload the fruit boxes. The fruit box transportation route is shown in Figure 3. In order to
make the picking platform more intelligent, automatic navigation technology and voice
control technology are used based on the overall design. The picking platform can achieve
autonomous driving in the orchard through the automatic navigation system, the fruit-
Agriculture 2023, 13, 882 box-lifting device can be lifted, and the high-level extendable working platform can be 4 of 25
extended through voice control. The electrical control cabinet is used to place electronic
components, receive external signals, and control the stable operation of each system.
Picked in high
positions
Route 1
Route 2
Picked in low
positions
Figure 3. Fruit box transportation route.
Figure 3. Fruit box transportation route.
2.1.2. Working Principle
2.1.2.
The Working
fruit-picking Principle
platform is driven by an electric motor and uses an automatic nav-
igation system to achieve autonomous driving on a specified path. After reaching the pre-
The fruit-picking platform is driven by an electric motor and uses an automatic
determined position, the operator can control the platform’s brake and the extension of
navigation
the systemworking
high-level extendable to achieve
platformautonomous
through voice control,driving
making onit easier
a specified
for path. After reaching
manual fruit picking. When the
the predetermined fruit box is the
position, full, itoperator
can be unloadedcanbycontrol
the fruit-box-lifting
the platform’s brake and the ex-
device.
tension of the
The working high-level
principle extendable
of the manual working
steering system is shownplatform
in Figure 4.through
In order voice control, making it
toeasier forsafety
ensure the manual fruit redundancy
and reliability picking. ofWhen theand
the platform fruit
meetbox is steering
manual full, it can be unloaded by the
requirements in some scenarios,
fruit-box-lifting device.a manual steering system is also designed for the fruit-
picking platform. When manual steering is required, the operator can control steering
wheel 2The working
to drive the steeringprinciple
column, which of the
drives manual steering
the follow-up system
valve inside the fullishy-
shown in Figure 4. In order
to ensure
draulic steeringthegear safety and
3 to rotate. Under reliability
the action of redundancy
hydraulic pump 1,of the platform
hydraulic oil flows and meet manual steer-
into the steering hydraulic cylinder 7 through the follow-up valve to push the piston rod
ing requirements in some scenarios, a manual steering system is also designed for the
to extend and contract, thereby driving the steering tie rod to realize the steering of the
fruit-picking
picking platform.
platform. When When
the driver stops manual
turning the steering is required,
steering wheel, the oil
the hydraulic operator can control steering
flows
wheel through
2 tothedrive
follow-upthevalve of the steering
steering column,gear and directly back
which to oilthe
drives tank 10, and
follow-up valve inside the full
the steering hydraulic cylinder remains in its original position. During path tracking,
hydraulic steering gear 3 to rotate. Under the action
when the picking platform reaches the turning area, the Beidou navigation system sends of hydraulic pump 1, hydraulic oil
flows
the intoposition
obtained the steering
information hydraulic cylinder
to the industrial control 7 through
computer. the
After follow-up
receiving the valve to push the piston
information, the industrial control computer sends the corresponding control program to
rod to extend and contract, thereby driving the steering tie rod to realize the steering of
the microcontroller. After the microcontroller runs the program, it sends a specific com-
the picking
mand to drive theplatform.
steering motor When the the
to complete driver stops turning the steering wheel, the hydraulic oil
steering.
flows through the follow-up valve of the steering gear and directly back to oil tank 10,
and the steering hydraulic cylinder remains in its original position. During path tracking,
when the picking platform reaches the turning area, the Beidou navigation system sends
the obtained position information to the industrial control computer. After receiving the
information, the industrial control computer sends the corresponding control program
to the microcontroller. After the microcontroller runs the program, it sends a specific
command to drive the steering motor to complete the steering.
The working principle of the extension platform and fruit-box-lifting hydraulic system
is shown in Figure 5. Hydraulic pump 1 starts to supply oil to the hydraulic system and
unloading valve 2 controls the system pressure. The solenoid directional valves 3, 4, 5,
and 6 are in the middle position. When the front lifting command is received, the solenoid
directional valve 3 switches to the right position and the piston rod of the front fruit-box-
lifting hydraulic cylinders 7 and 8 extends to drive the fruit-box-lifting device to rise. When
the stop front lifting command is received, the solenoid directional valve 3 returns to the
middle position, hydraulic cylinders 7 and 8 stop moving, and the fruit-box-lifting device
stays in place. When the front lowering command is received, the solenoid directional valve
3 switches to the left position and the piston rod of the front fruit-box-lifting hydraulic
cylinders 7 and 8 retracts to drive the fruit-box-lifting device to descend. The working
principles of the remaining hydraulic cylinders 9, 10, 11, and 12 are the same, respectively
realizing the extension of the platform and the lifting of the rear fruit-box-lifting device.
Agriculture 2023, 13, 882 5 of 25
Figure 4. Schematic diagram of the steering system. 1 represents the hydraulic pump, 2 represents
the electric steering wheel, 3 represents the full hydraulic steering gear, 4 represents the steering tie
rod, 5 represents the left steering wheel, 6 represents the steering front axle, 7 represents the steering
hydraulic cylinder, 8 represents the right steering wheel, 9 represents the unloading valve, and 10
represents the oil tank.
The working principle of the extension platform and fruit-box-lifting hydraulic sys-
tem is shown in Figure 5. Hydraulic pump 1 starts to supply oil to the hydraulic system
and unloading valve 2 controls the system pressure. The solenoid directional valves 3, 4,
5, and 6 are in the middle position. When the front lifting command is received, the sole-
noid directional valve 3 switches to the right position and the piston rod of the front fruit-
box-lifting hydraulic cylinders 7 and 8 extends to drive the fruit-box-lifting device to rise.
When
Figure the stop front
4. Schematic liftingofcommand
diagram is system.
the steering received, the solenoid
1 represents directional
the hydraulic valve
pump, 3 returns
2 represents
Figure
to
thethe middle
electric Schematic
4.steering
position, 3diagram
wheel,hydraulic
represents offull
thehydraulic
cylinders
the 7steering
and 8 stop system.
moving,
steering 1 represents
gear, 4and the tie
the fruit-box-lifting
represents the steering hydraulic pump, 2 represents
device stays in the
rod, 5 represents place.
left When
steeringthe front
wheel, lowering the
6 represents command is received,
steering front the solenoid
axle, 7 represents direc-
the steering
the electric steering wheel, 3 represents the full hydraulic steering gear, 4 represents the steering tie
tional valve
hydraulic 3 switches
cylinder, to the the
8 represents leftright
position andwheel,
steering the piston rod of the
9 represents theunloading
front fruit-box-lifting
valve, and 10
rod, 5 represents
represents
hydraulic the oil tank.7the
cylinders andleft steering
8 retracts wheel,
to drive 6 represents the
the fruit-box-lifting devicesteering front
to descend. Theaxle, 7 represents the steering
working principles
hydraulic cylinder, of the remaining hydraulic
8 represents cylinders
the right 9, 10,wheel,
steering 11, and 12 are the same,the unloading valve, and 10
9 represents
The working
respectively principle
realizing of the extension
the extension platformand
of the platform andthe
fruit-box-lifting hydraulic
lifting of the rear sys-
fruit-box-
representsshownthe
tem is device.
lifting oil tank.
in Figure 5. Hydraulic pump 1 starts to supply oil to the hydraulic system
and unloading valve 2 controls the system pressure. The solenoid directional valves 3, 4,
5, and 6 are in the middle position. When the front lifting command is received, the sole-
noid directional valve 3 switches to the right position and the piston rod of the front fruit-
box-lifting hydraulic cylinders 7 and 8 extends to drive the fruit-box-lifting device to rise.
When the stop front lifting command is received, the solenoid directional valve 3 returns
to the middle position, hydraulic cylinders 7 and 8 stop moving, and the fruit-box-lifting
device stays in place. When the front lowering command is received, the solenoid direc-
tional valve 3 switches to the left position and the piston rod of the front fruit-box-lifting
hydraulic cylinders 7 and 8 retracts to drive the fruit-box-lifting device to descend. The
working principles of the remaining hydraulic cylinders 9, 10, 11, and 12 are the same,
respectively realizing the extension of the platform and the lifting of the rear fruit-box-
lifting device.
Figure 5. Schematic diagram of the hydraulic system of the extendable working platform and fruit
box. 1 represents the hydraulic pump; 2 represents the unloading valve; 3, 4, 5, and 6 represent the
solenoid directional valve; 7, 8, 11, and 12 represent the lifting hydraulic cylinders; 9 and 10 represent
the extension hydraulic cylinders.
2.2. Key Component Design

2.2.1. Design of High-Level Extendable Working Platform
In order to facilitate operators to pick fruits at different heights and to meet the needs of
multiple operators working at the same time, the platform has a double-sided,
double-height, four-workstation design consisting of a high-level working platform and
a low-level working platform. Since most fruits grow at the top of trees, the width of the
high-level working platform is crucially important. A narrow high-level working platform
would limit the working range of the operators, and frequent adjustments of the distance
between the picking platform and the trees would greatly reduce work efficiency. To im-
prove the adaptability and efficiency of the picking platform, a high-level working platform
with an adjustable width is designed. To make the structure of the picking platform more
compact, the high-level working platform is equipped with an expansion pedal. When
the work width is sufficient, the expansion pedal retracts below the working platform and
when the work width is not enough, operators can control the left and right expansion
pedals to extend them. As shown in Figure 6, the left and right expansion pedals 1 and 5
are installed on slide rail 3 and the middle of the workbench 4 is equipped with a pulley.
Operators control the telescoping motion of the telescopic hydraulic cylinders 2 and 6 to
make the left and right expansion pedals 1 and 5 extend and retract along slide rail 3.
prove the adaptability and efficiency of the picking platform, a high-level working plat-
form with an adjustable width is designed. To make the structure of the picking platform
more compact, the high-level working platform is equipped with an expansion pedal.
When the work width is sufficient, the expansion pedal retracts below the working plat-
form and when the work width is not enough, operators can control the left and right
expansion pedals to extend them. As shown in Figure 6, the left and right expansion ped-
als 1 and 5 are installed on slide rail 3 and the middle of the workbench 4 is equipped with
Agriculture 2023, 13, 882 6 of 25
a pulley. Operators control the telescoping motion of the telescopic hydraulic cylinders 2
and 6 to make the left and right expansion pedals 1 and 5 extend and retract along slide
rail 3.
Figure 6. Structural diagram of the high-level extendable working platform. 1 and 5 represent ex-
Figure 6. Structural
pansion pedals, diagram
2 and 6 represent of the
the hydraulic high-level
cylinders, extendable
3 represents working
the slide rail, and 4 representsplatform. 1 and 5 represent
expansion pedals, 2 and 6 represent the hydraulic cylinders, 3 represents the slide rail, and 4 represents
the workbench.
the workbench.
To ensure the safety of the operator during the stretching and shrinking movement
of the left and right extension pedals, the operator needs to wait for the extension pedals
to fullyTo ensure
extend beforethe safety
standing of the
on them operator
to carry during
out picking work. the
Basedstretching
on the load ofand shrinking movement
the working platform stretching hydraulic cylinder and the actual requirements of the
of the left and right extension pedals, the operator needs to wait for the extension pedals
orchard operation, the specific parameters of the selected single-rod double-acting hy-
to fully extend before standing
draulic cylinder are shown in Table 1. on them to carry out picking work. Based on the load
of the working platform stretching hydraulic cylinder and the actual requirements of
the orchard operation, the specific parameters of the selected single-rod double-acting
hydraulic cylinder are shown in Table 1.
Table 1. Hydraulic cylinder parameters of the high-level extendable working platform.
Parameters Value
Hydraulic cylinder diameter (mm) 50
Piston rod diameter (mm) 25
Maximum working pressure (MPa) 20
Piston rod speed (m/s) 0~0.6
Piston rod stroke (mm) 380
2.2.2. Design of the Fruit-Box-Lifting Devices

To facilitate the loading and unloading of fruit boxes on the high-level working
platform and reduce labor intensity for operators, front and rear fruit-box-lifting devices
were designed as shown in Figure 7 and installed at the front and rear ends of the picking
platform, as shown in Figure 8. Before picking, the workers lift the empty fruit boxes
to the high-level working platform using the fruit-box-lifting device, and after the fruit
boxes are filled, they are unloaded with the help of the fruit-box-lifting device. This lifting
structure does not affect the normal operation of the picking platform and can effectively
improve work efficiency. The front and rear fruit-box-lifting devices use a guide rail lifting
method, with support frame 1 installed at the front and rear ends of the picking platform
and sliding frame 3 installed on support frame 1. The power generated by the extension
and contraction of lifting hydraulic cylinder 5 drives chain 2 to pull the sliding frame up
and down on the support frame. The fruit box transport device 4 is hinged on the sliding
frame 3 and is equipped with pulleys for easy loading and unloading of the fruit boxes.
form, as shown in Figure 8. Before picking, the workers lift the empty fruit boxes to the
high-level working platform using the fruit-box-lifting device, and after the fruit boxes
are filled, they are unloaded with the help of the fruit-box-lifting device. This lifting struc-
ture does not affect the normal operation of the picking platform and can effectively im-
prove work efficiency. The front and rear fruit-box-lifting devices use a guide rail lifting
method, with support frame 1 installed at the front and rear ends of the picking platform
and sliding frame 3 installed on support frame 1. The power generated by the extension
Agriculture 2023, 13, 882 7 of 25
and contraction of lifting hydraulic cylinder 5 drives chain 2 to pull the sliding frame up
and down on the support frame. The fruit box transport device 4 is hinged on the sliding
frame 3 and is equipped with pulleys for easy loading and unloading of the fruit boxes.
Figure 7. Structural diagram of the fruit-box-lifting device. 1 represents the support frame, 2 repre-
Figure 7. Structural
sents the chains, diagram
3 represents the of the
sliding frame, fruit-box-lifting
4 represents device.
the fruit box transport 1 represents
device, and 5 the support frame, 2
represents the chains,
represents the lifting hydraulic3cylinder.
represents the sliding frame, 4 represents the fruit box transport device, and 5
represents the lifting hydraulic cylinder.

The front fruit box The rear fruit box
lifting device lifting device
The front fruit box The rear fruit box

lifting device lifting device
Figure 8. Installation diagram of the fruit-box-lifting device.

Figure 8. Installation diagram of the fruit-box-lifting device.
2.2.3. Design of the Drive System
2.2.3. Design of the Drive System
The fruit-picking platform is driven by an electric power system that uses a battery
toFigure
supplyThe power to the drive of
fruit-picking
8. Installation diagram motor. The drive is
platform
the system
fruit-box-lifting consists
driven
device. byofana transmission system, a system that uses a battery
electric power
drive motor, and a battery. The power transmission is shown in Figure 9. The battery sup-
to supply
plies power power
to of
the drive to the
motor anddrive
electric motor.
motor. TheThe drivedrive system
motor provides consists
power for the of a transmission system,
2.2.3. Design the Drive System
a drive
platform to motor,
travel, while andthe a battery.
electric motor The
drivespower transmission
the gear pump is
to provide power
The fruit-picking platform is driven by an electric power system that uses a battery
shown
for the in Figure 9. The battery
hydraulic system. The differential changes the direction of power transmission and in-
supplies
to supply power power to thetodrive
themotor.
driveThe motor and electric
drive system consists of motor. Thesystem,
a transmission driveamotor provides power for
creases torque through deceleration.
driveplatform
the motor, and ato battery.
travel,Thewhile
power transmission
the electric is shown
motorin Figure
drives9. The
thebattery
gearsup-
pump to provide power for
plies power to the drive motor and electric motor. The drive motor provides power for the
Fronthydraulic
the fruit system. Left differential
The Right changesRight the direction of power transmission and
platform
box lifting
to travel, while the electric
Steering
motor drives
extension
the gear pump
extension
to provide power for the
extension
increases
hydraulic
device system.torque The through
hydraulic differential deceleration.
pedalchanges thepedaldirection of power
pedal transmission and in-
creases
hydraulic torque through
cylinder deceleration.
hydraulic hydraulic hydraulic
cylinder cylinder cylinder cylinder
Front fruit Left Right Right
box lifting Steering extension extension extension
device hydraulic pedal pedal pedal
hydraulic cylinder hydraulic
Hydraulic hydraulic hydraulic
cylinder cylinder
pump cylinder cylinder
Electric Right rear

motor wheel
Storage Hydraulic
battery pump
Differential Drive rear
Drive motor
mechanism axle
Electric Right rear
motor wheel
Storage Left rear
battery wheel
Differential Drive rear
Drive motor
Figure 9. Diagram of power transmission. mechanism axle
When the operator drives the fruit-picking platform during Leftpicking

rear operations, the
driving speed needs to be set in combination with the operator’swheel
picking speed to ensure
a high picking rate. At the same time, when reaching an area with dense fruit growth, the
Figure 9. Diagram of power transmission.
operator
Figureneeds to apply the
9. Diagram of brake
power to the picking platform through the voice control system
transmission.
before picking. The voice recognition process takes about 1.6 s and the distance traveled
When the operator drives the fruit-picking platform during picking operations, the
by the picking platform at this time should not exceed the operator’s picking range (i.e.,
driving speed needs to be set in combination with the operator’s picking speed to ensure
the length of the working platform). Therefore, the design of the picking platform’s driv-
a high picking rate. At the same time, when reaching an area with dense fruit growth, the
ing speed can be calculated using Equation (1).
operator needs to apply the brake to the picking platform through the voice control system
before picking. The voice recognition process takes about 1.6 s and the distance traveled
by the picking platform at this time should not exceed the operator’s picking range (i.e.,
the length of the working platform). Therefore, the design of the picking platform’s driv-
ing speed can be calculated using Equation (1).
Agriculture 2023, 13, 882 8 of 25
When the operator drives the fruit-picking platform during picking operations, the
driving speed needs to be set in combination with the operator’s picking speed to ensure a
high picking rate. At the same time, when reaching an area with dense fruit growth, the
operator needs to apply the brake to the picking platform through the voice control system
before picking. The voice recognition process takes about 1.6 s and the distance traveled by
the picking platform at this time should not exceed the operator’s picking range (i.e., the
length of the working platform). Therefore, the design of the picking platform’s driving
speed can be calculated using Equation (1).
S
v≤ , (1)
t1 + t2 + t s
where v = the driving speed of the picking platform (m/s), S = the operator’s picking range (m),
t1 = the average picking time per working platform length (s), t2 = the time consumed by
voice recognition (s), and ts = the correction time (s).
The calculated driving speed is v ≤ 0.41 m/s, and for convenience of subsequent
calculations and relevant experiments, the design speed is set as 0.4 m/s.
The main forces the platform experiences during the picking operation include ground
rolling resistance caused by its own weight and slope resistance caused by uneven road
surfaces. The motor power is mainly used to overcome the rolling resistance, Ff , and
the slope resistance, Fp . The application scenario of the picking platform is standardized
orchards in plain areas of China. The road inside the orchard is flat, with a maximum slope
of no more than 5◦ , which is calculated as 5◦ here.
The balance equation for the picking platform during operation is shown in Equation (2).
Fq = Ff + Fp = µmg cos θ + mg sin θ, (2)

where Fq = the driving force (N), Ff = the ground frictional resistance (N), Fp = the slope resis-
tance (N), m = the mass of the entire machine (kg), g = the gravitational acceleration (m/s2 ),
µ = the rolling friction coefficient, and θ = the maximum slope (◦ ).
Substituting the relevant parameters into Equation (2) and calculating gives a driving
force, Fp , of approximately 2684.5 N.
The driving wheel speed can be calculated using Equation (3).
60v
n= , (3)
2πr
where n = the driving wheel speed (rpm), v = the picking platform traveling speed (m/s),
and r = the driving wheel radius (m).
Substituting the relevant parameters into Equation (3), the driving wheel speed is
calculated to be approximately 11.75 rpm.
The DC motor power can be calculated using Equation (4).
pq = Fq v. (4)
Substituting relevant parameters, pq can be approximated as 1.074 kW. Based on the

power requirements and usage of the picking platform, a DC series wound motor with a
reduction ratio of 50 is selected and the forward and backward movements of the picking
platform are controlled by the motor’s forward and reverse controls. The main technical
parameters of the selected DC series wound motor are shown in Table 2.
Table 2. Drive motor parameters.
Parameters Rated Voltage (V) Rated Speed (r/min) Output Speed (r/min) Rated Power (kW)
valve 60 3500 700 1.5
Agriculture 2023, 13, 882 9 of 25
Based on the selected rated voltage of the drive motor, five 12 V lithium batteries are
selected in series to power the drive motor. Considering the working time requirement
of the picking platform, the platform needs to operate for at least 8 h after each charge.
Therefore, the battery capacity, C, should be no less than 400 Ah, which is calculated as
50 A × 8 h. The main parameters of the selected batteries are shown in Table 3.
Table 3. Battery main parameter.
Parameters Rated Voltage (V) Electric Capacity (Ah) Operation Temperature (°C) Overall Dimension
valve 12 400 −20~60 400 × 250 × 225
Table 3. Battery main parameter.

2.3. Design of the Voice Control System
Parameters Rated Voltage (V) Electric Capacity (Ah) Operation Temperature (℃) Overall Dimension
valve 12
2.3.1. Functional 400
Requirements and Principles of the
−20~60
System
400 × 250 × 225
The voice control system consists of two parts, i.e., the operation voice control system
2.3. Design of the Voice Control System
and the walking voice control system. The operation voice control system includes the
2.3.1. Functional Requirements and Principles of the System
voice control of the front and rear fruit-box-lifting devices and the left and right extension
The voice control system consists of two parts, i.e., the operation voice control system
pedals of thevoice
and the walking high-level working
control system. platform.
The operation During
voice control systemautomatic
includes the navigation and picking
operation, the walking voice control system can be usedextension
voice control of the front and rear fruit-box-lifting devices and the left and right to brake the picking platform.
pedals of the high-level working platform. During automatic navigation and picking op-
After completing the picking operation, the picking platform
eration, the walking voice control system can be used to brake the picking platform. After
can be controlled to continue
moving
completingforward. The structure
the picking operation, ofplatform
the picking the voice
can becontrol
controlledsystem ismov-
to continue shown in Figure 10.
ing forward. The structure of the voice control system is shown in Figure 10.
Fruit box lifting device

hydraulic cylinder
Solenoid
Hydraulic Hydraulic
directional
oil tank oil tank
valve
Extension pedal
hydraulic cylinder
Voice control
Microphone
module
(a)
Automatic navigation
control system
Steering motor
Steering motor Steering wheel Steering axle
controller
Microcontroller
Drive motor
Drive motor Decelerator Drive axle
controller
Voice control
Microphone
module
(b)
Figure 10. Structural composition of the voice control system. (a) Structural composition diagram
Figure 10. Structural composition of the voice control system. (a) Structural composition diagram
of the operation voice control system. (b) Structural composition diagram of the walking voice con-
of
trolthe operation voice control system. (b) Structural composition diagram of the walking voice
system.
control system.
To ensure the effectiveness of voice control, the system should accurately recognize
the voice keywords of non-specific personnel with a recognition accuracy of no less than
To ensure
85%. Moreover, the effectiveness
the system of voice
should respond quickly, withcontrol, the
a delay of no system
more than 2 s.should
accurately recognize
the voice keywords of non-specific personnel with a recognition accuracy of no less than
2.3.2. Design of the Voice Control System
85%. Moreover, the system should respond quickly, with a delay of no more than 2 s.
(1) Voice control chip
The voice control system utilizes the LD3322 as the main control chip for the voice
2.3.2. Design
recognition of The
module. theLD3322
Voicechip
Control System
has a rich keyword list that can meet the required
voice control commands. The chip comes with an onboard microphone that can convert
(1) Voice control chip
the recognized sound signal into an electrical signal.
The voice control system utilizes the LD3322 as the main control chip for the voice
recognition module. The LD3322 chip has a rich keyword list that can meet the required
voice control commands. The chip comes with an onboard microphone that can convert
the recognized sound signal into an electrical signal.
Agriculture 2023, 13, 882 10 of 25
The LD3322 voice control module is controlled through the Intelligent Public Platform
for Logic Editing. The GPIO pins are set to default low level, and the corresponding
relay can be controlled by setting the GPIO pin to high or low. The picking platform
operation system can control the corresponding solenoid directional valve by setting the
GPIO pin. The UART1_TX pin can send hexadecimal serial data and the picking platform
The LD3322
walking voicevoice control system
control module is can
controlled
sendthrough the Intelligent Public
the corresponding Plat-
hexadecimal command to the
form for Logic Editing. The GPIO pins are set to default low level, and the corresponding
microcontroller
relay can be controlledthrough
by setting the UART1_TX
the GPIO pin to high orpin.
low. The picking platform op-
erationThe LD3322
system voice
can control control principle
the corresponding is shown
solenoid directional in by
valve Figure 11. First, the keywords are
setting the
GPIO pin.on
edited Thethe
UART1_TX
abovepinplatform,
can send hexadecimal
and theserial data and the
platform picking platform
generates the keywords in the form of
walking voice control system can send the corresponding hexadecimal command to the
pinyin letterthrough
microcontroller strings. The generated
the UART1_TX pin. voice control program is written into LD3322. When
working, the voice
The LD3322 voice keywords
control principle spoken
is shown in byFigure
the 11.
operator
First, the are input
keywords arethrough the MIC, and the
edited on the above platform, and the platform generates the keywords in the form of
LD3322 performs frequency spectrum analysis on the input
pinyin letter strings. The generated voice control program is written into LD3322. When
keywords, extracts the sound
features, and compares and matches them with the written
working, the voice keywords spoken by the operator are input through the MIC, and the keyword features. After finding
LD3322 performs frequency spectrum analysis on the input keywords, extracts
the best match keyword, the matching result is sent to the MCU. At this point, the MCU the sound
features, and compares and matches them with the written keyword features. After find-
converts
ing the bestthe
matchkeyword
keyword, theinto the corresponding
matching result is sent to theinstruction
MCU. At this to control
point, the the solenoid valve and
motor for the
MCU converts thecorresponding action. instruction to control the solenoid
keyword into the corresponding
valve and motor for the corresponding action.
LD3322 Voice recognition chip

Recognition
Spectrum Feature Voice result
MIC
analysis extraction recognizer
Keyword
list
Dynamic edit
recognition list
Pinyin
MCU
string
Figure 11. Schematic diagram of voice control.

Figure 11. Schematic diagram of voice control.
(2) Voice control system Debugging
(2) Voice
Based control
on the workingsystem
principle Debugging
of the voice control system for the picking platform,
the following steps can be taken to develop a list of voice recognition keywords and set
Based on pin
the corresponding thelevels
working
for voiceprinciple
recognition of the The
output. voice
highcontrol system
and low level pins for the picking platform,
correspond to the corresponding actions of the hydraulic cylinder. The list of
the following steps can be taken to develop a list of voice recognition keywords andvoice recog-
nition keywords, voice recognition output, and hydraulic cylinder actions for the picking
set the are
platform corresponding
shown in Table 4. pin levels for voice recognition output. The high and low level
pins correspond to the corresponding actions of the hydraulic cylinder. The list of voice
Table 4. Operation voice system control keywords.
recognition keywords, voice recognition output, and hydraulic cylinder actions for the
Voice Recognition Keywords Voice Recognition Output Hydraulic Cylinder Actions
picking platform are shown in Table 4.
“cai3 zhai1 ping2 tai2” “wo3 zai4” Waiting for commands
“qian2 sheng1” GPIO_B3 high level The front lifting hydraulic cylinder extends
4. Operation
“ting2 zhi3 qian2 sheng1” TableGPIO_B3 voice system
low level control
The front keywords.
lifting hydraulic cylinder stops extending
“qian2 jiang4” GPIO_B2 high level The front lifting hydraulic cylinder retracts
“ting2 zhi3 qian2
Voice Recognition jiang4”
Keywords GPIO_ B2 low
Voice level
Recognition The front lifting hydraulic cylinder stops
Output retracting
Hydraulic Cylinder Actions
“hou4 sheng1” GPIO_B6 high level The rear lifting hydraulic cylinder extends
“cai3 “ting2
zhai1zhi3
ping2
hou4tai2”
sheng1” GPIO_B6 low “wo3
level zai4”The rear lifting hydraulic cylinder stopsWaiting
extendingfor commands
“qian2“hou4
sheng1”
jiang4” GPIO_B7GPIO_B3
high level high level Thecylinder
The rear lifting hydraulic front lifting
retracts hydraulic cylinder extends
“ting2 zhi3 qian2 sheng1” GPIO_B3 low level The front lifting hydraulic cylinder stops extending
“qian2 jiang4” GPIO_B2 high level The front lifting hydraulic cylinder retracts
“ting2 zhi3 qian2 jiang4” GPIO_ B2 low level The front lifting hydraulic cylinder stops retracting
“hou4 sheng1” GPIO_B6 high level The rear lifting hydraulic cylinder extends
“ting2 zhi3 hou4 sheng1” GPIO_B6 low level The rear lifting hydraulic cylinder stops extending
“hou4 jiang4” GPIO_B7 high level The rear lifting hydraulic cylinder retracts
“ting2 zhi3 hou4 jiang4” GPIO_B7 low level The rear lifting hydraulic cylinder stops retracting
Agriculture 2023, 13, 882 11 of 25
Table 4. Cont.
Voice Recognition Keywords Voice Recognition Output Hydraulic Cylinder Actions

“zuo3 shen1” GPIO_A25 high level The left telescopic hydraulic cylinder extends
“ting2 zhi3 zuo3 shen1” GPIO_A25 low level The left telescopic hydraulic cylinder stops extending
“zuo3 suo1” GPIO_A26 high level The left telescopic hydraulic cylinder retracts
“ting2 zhi3 zuo3 suo1” GPIO_A26 low level The left telescopic hydraulic cylinder stops retracting
“ting2 zhi3 hou4 jiang4” GPIO_B7 low level The rear lifting hydraulic cylinder stops retracting
“you4 shen1” GPIO_A27 high level The right telescopic hydraulic cylinder extends
“zuo3 shen1” GPIO_A25 high level The left telescopic hydraulic cylinder extends
“ting2 zhi3
“ting2you4
zhi3 zuo3shen1”
shen1” GPIO_A27
GPIO_A25 low level low level The right
The left telescopic hydraulic telescopic
cylinder hydraulic cylinder stops extending
stops extending
“you4“zuo3 suo1” suo1” GPIO_A28
GPIO_A26 high level high level The right
The left telescopic hydraulic telescopic
cylinder retracts hydraulic cylinder retracts
“ting2 zhi3
“ting2you4
zhi3 zuo3suo1”
suo1” GPIO_A28
GPIO_A26 low level lowThe
level The right
left telescopic hydraulic telescopic
cylinder hydraulic cylinder stops retracting
stops retracting
“you4 shen1” GPIO_A27 high level The right telescopic hydraulic cylinder extends
“ting2 zhi3 you4 shen1” GPIO_A27 low level The right telescopic hydraulic cylinder stops extending
“you4 suo1” GPIO_A28
In orderhigh
to level
test The right telescopic
the success rate and hydraulic cylinder retracts
effectiveness of the voice control system, the
“ting2 zhi3 you4 suo1” GPIO_A28 low level The right telescopic hydraulic cylinder stops retracting
relevant hardware is connected and tested. The test model of the overlap is shown in
Figure 12. to
In order We testcan use wake-up
the success words “cai3
rate and effectiveness zhai1
of the voice ping2
control tai2”
system, to put the voice control into
the rel-
evant hardware
working mode is connected
first, andand then
tested.conduct
The test model of the overlap is
experimental shown in Figure
verification with other voice keywords.
12. We can use wake-up words “cai3 zhai1 ping2 tai2” to put the voice control into work-
Ifingthe voice system does not recognize the keywords within 5
mode first, and then conduct experimental verification with other voice keywords. If s, it will enter standby mode
and need
the voice to be
system doesawakened
not recognizeagain.
the keywords within 5 s, it will enter standby mode
and need to be awakened again.
Figure 12. Voice test system of operation. 1 represents the solenoid directional valve, 2 represents
Figure
the voice 12. Voice
control testand
module, system of operation.
3 represents the battery. 1 represents the solenoid directional valve, 2 represents the
voice control module, and 3 represents the battery.
The experiments were conducted under two different background sound environ-
ments, namely, a quiet environment (35 dB in normal indoor conditions) and a noisy en-
The(when
vironment experiments
the machine were conducted
is working normally inunder twoFive
the orchard). different background sound environ-
representative
ments,
groups ofnamely,
keywords werea quiet
selectedenvironment
from Table 4 and (35
testeddB
100in normal
times indoor conditions) and a noisy
each to determine
the accuracy of the solenoid directional valve switching or disconnection recognition. The
environment (when the machine is working normally in the orchard). Five representative
results are shown in Table 5. The average time required for accurate recognition was also
groups of keywords
recorded and were
are shown in Table 6. selected from Table 4 and tested 100 times each to determine
Data in Tableof
the accuracy 5 show that the command
the solenoid recognition
directional rate ofswitching
valve the voice control system
or disconnection recognition. The
for the picking platform is relatively high in a quiet indoor environment, with an average
results are shown in Table 5. The average time required for accurate
recognition rate of 93.4%. However, in a noisy environment, the recognition rate is lower, recognition was also
recorded andaccuracy
with an average are shown
of 87.0%.in Table 6.
Table 5. Recognition accuracy of the operation voice system in the two environments.
Recognition Rate in the Recognition Rate in the

Commands
Quiet Environment (%) Noisy Environment (%)
“cai3 zhai1 ping2 tai2” 93.0 90.0
“qian2 sheng1” 95.0 92.0
“ting2 zhi3 qian2 sheng1” 93.0 85.0
“zuo3 suo1” 96.0 85.0
“ting2 zhi3 zuo3 suo1” 90.0 83.0
Average recognition rate 93.4 87.0
Agriculture 2023, 13, 882 12 of 25
Table 6. Recognition time of the operation voice system in the two environments.
Recognition Time in the Recognition Time in the

Commands
Quiet Environment (s) Noisy Environment (s)
“qian2 sheng1” 1.0 1.3
“ting2 zhi3 qian2 sheng1” 1.6 1.8
“zuo3 suo1” 1.2 1.5
“ting2 zhi3 zuo3 suo1” 1.6 1.8
Average recognition time 1.4 1.6
Data in Table 5 show that the command recognition rate of the voice control system
for the picking platform is relatively high in a quiet indoor environment, with an average
recognition rate of 93.4%. However, in a noisy environment, the recognition rate is lower,
with an average accuracy of 87.0%.
Data in Table 6 shows that the duration of voice recognition is associated with the
length of the voice control keyword. The longer the recognition command, the longer
the average recognition time. Longer recognition time is needed in a noisy environment
compared with a quiet environment. For the same command, the recognition time in a
noisy environment is 0.1–0.2 s longer than in a quiet environment.
Meanwhile, a walking voice recognition keyword list was compiled based on the
working principle of the walking voice control system of the picking platform. The keyword
list, voice recognition output, and corresponding walking actions for the picking platform
walking voice control system are shown in Table 7.
Table 7. Walking voice system control keywords.
Voice Recognition Keywords Voice Recognition Output Walking Actions

“cai3 zhai1 ping2 tai2” “wo3 zai4” Waiting for commands
“qian2 jin4” 0 Walk forward
“ting2 zhi3 qian2 jin4” 1 Stop walking forward
“hou4 tui4” 2 Walk backward
“ting2 zhi3 hou4 tui4” 3 Stop walking backward
Connecting the relevant hardware and conducting experiments, the effectiveness of

the voice control system was determined by judging the positive
and reverse rotations of
the motor. The experimental model is shown in Figure 13.
Figure 13. Voice test system for walking. 1 represents the motor driver, 2 represents the electric
Figure 13. Voice test system for walking. 1 represents the motor driver, 2 represents the electric motor,
motor, 3 represents the voice control module, 4 represents the microcontroller, 5 represents the
3transformer,
representsand the voicethe
6 represents control
battery.module, 4 represents the microcontroller, 5 represents the transformer,
andIn 6 Table
represents the battery.
7, each keyword was tested 100 times to verify the recognition results for the
forward and reverse rotations of the steering motor. The results are shown in Table 8 and
In Table
the average 7, each
recognition time keyword
is recorded inwas
Tabletested
9. 100 times to verify the recognition
results for the
forward and reverse rotations of the steering motor. The results are shown in Table 8 and
Table 8. Recognition accuracy of the walking voice system in the two environments.
the average recognition time is recorded in Table 9.
Recognition Rate in the Quiet Envi- Recognition Rate in the Noisy Envi-
Commands
ronment (%) ronment (%)
“qian2 jin4” 95.0 89.0
“ting2 zhi3 qian2 jin4” 90.0 81.0
“hou4 tui4” 92.0 87.0
Agriculture 2023, 13, 882 13 of 25
Table 8. Recognition accuracy of the walking voice system in the two environments.
Recognition Rate in the Recognition Rate in the

Commands
Quiet Environment (%) Noisy Environment (%)
“qian2 jin4” 95.0 89.0
“hou4 tui4” 92.0 87.0
“ting2 zhi3 hou4 tui4” 97.0 90.0
Average recognition rate 94.0 87.8
Table 9. Recognition time of the walking voice system in the two environments.
Recognition Time in the Recognition Time in the

Commands
Quiet Environment (s) Noisy Environment (s)
“qian2 jin4” 1.0 1.2
“hou4 tui4” 1.1 1.3
“ting2 zhi3 hou4 tui4” 1.5 1.7
Average recognition time 1.2 1.5
Based on the data in Table 8, it can be concluded that the recognition rate of picking
platform walking commands through voice control is relatively high in quiet indoor envi-
ronments, with an average accuracy rate of 94.0%; while the recognition rate is lower in
noisy environments, with an average accuracy rate of 87.8%.
Based on the data in Table 9, it can be concluded that the average recognition time
of the walking voice control keywords is associated with the length of the keywords.
The longer the recognition command, the longer the recognition time. It takes longer to
recognize the keywords in noisy environments compared with quiet environments and, for
the same command, the recognition time in noisy environments is 0.1–0.2 s longer than in
quiet environments.
After analyzing the experimental results of the two voice control systems, it can
be concluded that both systems can meet the requirements for normal operation of the
picking platform.
2.4. Design of the Automatic Navigation System

2.4.1. Functional Requirements and Principles of the System
The automatic navigation system obtains the position information of the picking
platform through high-precision satellite navigation equipment and plans the path based
on the spacing between rows in the orchard and the distribution of fruit trees. Then, the
path-tracking control algorithm is used to make the picking platform travel automatically
along the planned path, thereby freeing the hands of operators and improving work
efficiency. In order to ensure the stability of the picking platform during autonomous
driving in the orchard, the automatic navigation system needs to obtain the position
information of the picking platform in real time and accurately locate it. When it is detected
that the picking platform has deviated from the planned path, the turning system can be
controlled in real time to correct the deviation such that the picking platform always travels
along the planned path.
The main components of the automatic navigation system include industrial com-
puters, microcontrollers, monitors, Beidou navigation systems, angle sensors, and other
components, as shown in Figure 14. Among them, the angle sensor needs to provide real-
time feedback of steering angle information of the picking platform to the microcontroller,
thus the angle sensor needs to meet requirements such as good shock resistance, high
output accuracy, sturdiness, and durability.
picking platform in real time and accurately locate it. When it is detected that the picking
platform has deviated from the planned path, the turning system can be controlled in real
time to correct the deviation such that the picking platform always travels along the
planned path.
The main components of the automatic navigation system include industrial com-
puters, microcontrollers, monitors, Beidou navigation systems, angle sensors, and other
Agriculture 2023, 13, 882 components, as shown in Figure 14. Among them, the angle sensor needs to provide real- 14 of 25
time feedback of steering angle information of the picking platform to the microcontroller,
thus the angle sensor needs to meet requirements such as good shock resistance, high
output accuracy, sturdiness, and durability.
Electric steering Mobile station

wheel antenna
Monitor
Signal receiver
Angle sensor Industrial

computers
Figure 14. Components of the automatic navigation system.
Figure 14. Components of the automatic navigation system.
2.4.2. Path-Tracking Control Algorithm
2.4.2.
ThePath-Tracking Control
automatic navigation Algorithm
fruit-picking platform adopts front-wheel steering and
rear-wheel drive. Due to the low traveling speed under orchard operations, the kinematic
The automatic navigation fruit-picking platform adopts front-wheel steering and
constraints have a greater impact on the picking platform, while the dynamic characteris-
rear-wheel drive.
tics have a smaller impactDue to tracking
on the the low traveling
control speedplatform.
of the picking underTherefore,
orcharda operations, the kinematic
constraints
kinematic modelhave
of theapicking
greater impact
platform on the picking
is established, taking theplatform, while the dynamic characteristics
navigation coordinate
system as the X-axis and Y-axis, and building an XOY rectangular coordinate system as
have a smaller impact on the tracking control of the picking platform. Therefore, a kinematic
model of the picking platform is established, taking the navigation coordinate system as
the X-axis and Y-axis, and building an XOY rectangular coordinate
Agriculture 2023, 13, x FOR PEER REVIEW 16 of 26 system as shown in
Figure 15. The kinematics model is called the bicycle model, and does not consider the
movement of the vehicle in the vertical direction (Z axis direction). Meanwhile, it is
shown in Figure 15. The kinematics model is called the bicycle model, and does not con-
assumed that the vehicle moves in a two-dimensional plane, and the left and right tires of
sider the movement of the vehicle in the vertical direction (Z axis direction). Meanwhile,
the
it is vehicle have
assumed that the the same
vehicle movessteering angle andplane,
in a two-dimensional speedand at
theany time,
left and rightthus the motion of the left
tires of
and the vehicle
right tireshave the same
of the steering
vehicle angle
can beand speed at anyinto
combined time, one
thus the
tiremotion of
to describe.
the left and right tires of the vehicle can be combined into one tire to describe.
Figure 15. Schematic diagram of the kinematic model.

Figure 15. Schematic diagram of the kinematic model.
The kinematic Equation (5) of the picking platform can be obtained by deriving math-
The
ematical kinematic
relationships Equation
between (5) of the picking platform can be
relevant parameters. obtained by deriving
mathematical relationships between 𝑥 cos𝜃 relevant parameters.
𝑦 sin𝜃 𝑣 , (5)
𝜃 tan . 
xc
 
.
cos θ
where 𝑥 = the x-coordinate of point C, 𝑦 = the  y-coordinate
angle in degrees with counterclockwise direction 
yc  ofsin
= (°),
as positive
. 
θ C,v𝜃c , = wheel
point
𝛿 = the front
the heading
angle
(5)
δ
θ (°), 𝑣 tan
in degrees with counterclockwise direction as positive = the lspeed of the picking
platform (m/s), and 𝑙 = the wheelbase of the picking platform (m).
.
The Stanley . control algorithm using a kin-
algorithm is adopted as the path-tracking
where x c =[35].
ematic model theThex-coordinate of point
core of the Stanley C,is ytoc calculate
algorithm = the y-coordinate
the steering angleofof point C, θ = the heading
angle in degrees
the electric with
power steering counterclockwise
system direction
based on the deviation between the asfront
positive (◦ ), δ = the front wheel angle
wheel center
in degrees with counterclockwise direction as positive (◦ ),picking
and the desired path. By using the relative geometric relationship between the
vc = the speed of the picking
platform’s positioning information and the desired path, the Stanley algorithm can obtain
platform (m/s),forand
the control variable l = the
the front wheelwheelbase
steering angle,of theincludes
which picking theplatform (m).
steering angle,
Ψ , caused by the heading deviation, σ, and the steering angle, Ψ , caused by the lateral
deviation, 𝑒. The principle is illustrated in Figure 16.
Agriculture 2023, 13, 882 15 of 25
The Stanley algorithm is adopted as the path-tracking control algorithm using a

kinematic model [35]. The core of the Stanley algorithm is to calculate the steering angle of
the electric power steering system based on the deviation between the front wheel center
and the desired path. By using the relative geometric relationship between the picking
platform’s positioning information and the desired path, the Stanley algorithm can obtain
the control variable for the front wheel steering angle, which includes the steering angle,
Ψσ , caused by the heading deviation, σ, and the steering angle, Ψθ , caused by the lateral
deviation, e. The principle is illustrated in Figure 16.
Figure 16. Schematic diagram of the Stanley algorithm.

Figure 16. Schematic diagram of the Stanley algorithm.
Assuming that the lateral deviation is ignored, the steering angle of the front wheel
Assuming
is aligned that the
with the tangent lateral
direction of thedeviation is 𝑡ignored,
nearest point, the steering
, on the reference trajectory,angle of the front wheel is
where 𝜎 represents the angle between the harvesting platform and the tangent direction
aligned with the tangent direction of the
of point 𝑡 . Therefore, we can derive Equation (6) as:
nearest point, t 1 , on the reference trajectory, where
σ represents the angle between the harvesting platform and the tangent direction of point
Ψ 𝑡 𝜎 𝑡 , (6)
t1 . Therefore, we can derive Equation (6) as:
where 𝜎 = the heading deviation (°) and Ψ = the adjustment steering angle caused by
the heading deviation 𝜎 (°).
Assuming that the heading deviation is ignored, Ψσwhen
(t) =
the σ (t), deviation, 𝑒, in-
lateral (6)
creases, the required steering angle of the front wheel increases. Suppose the expected
where
trajectoryσof=the
the heading
picking platformdeviation (◦ )the
intersects with and Ψσ line
tangent = the 𝑡 on the refer-
adjustment
of point steering angle caused by the
ence trajectory at a distance of◦ 𝑑 𝑡 in front of the front wheel, Equations (7) and (8) can
heading deviation σ ( ).
be obtained based on the geometric relationship in Figure 16.
Assuming that the heading deviation is ignored, when the lateral deviation, e, in-
Ψ 𝑡 𝑘 𝜃 𝑡 𝑎𝑟𝑐𝑡𝑎𝑛 𝑎𝑟𝑐𝑡𝑎𝑛 , (7)
creases, the required steering angle of the front wheel increases. Suppose the expected
trajectory of the picking platform 𝑣 𝑘𝑑 𝑡 ,
intersects with the tangent line(8)of point t1 on the reference
where 𝜃 𝑡 = at
trajectory the a distance
angle between the d(t) inoffront
of heading of the
the picking front
platform andwheel, Equations
the tangent di- (7) and (8) can be
rection at the nearest path point 𝑡 (°), Ψ 𝑡 = the adjusting angle caused by the lateral
obtained based on the geometric relationship in Figure 16.
deviation 𝑒 (°), 𝑒 𝑡 = the lateral deviation of the picking platform at a given time (°),
𝑑 𝑡 = the distance between the intersection point 𝑡 and 𝑡 (m), 𝑣 𝑡 = the velocity of
the picking platform (m/s), and 𝑘 = the gain parameter. e(t) ke(t)
Ψθ (t)k = θEquation
Taking both situations into consideration,
(t) = arctan = arctan
(9) is as follows:
, (7)
d(t) v(t)
Ψ t Ψ 𝑡 Ψ 𝑡 , (9)
where Ψ = the expected steering angle of the front wheel

v= (°). kd ( t ), (8)
Additionally, based on the geometric relationship in the figure, the lateral deviation
of the picking
where θ (t)platform
= thecan be expressed
angle as Equations
between (10) and (11).
the heading of the picking platform
and the tangent
direction at the nearest 𝑒 𝑡
path point t1 (◦ ),𝑡 ,Ψθ (t)
𝑣 𝑡 sinΨ
= the adjusting(10)
angle
caused by the lateral
deviation e (◦ ), e(t)sinΨ = the𝑡 lateral deviation of, the picking platform
(11) at a given time (◦ ),
d(t) = the distance between the intersection point t1 and t2 (m), v(t) = the velocity of the
where 𝑒 𝑡 = the rate of change of lateral deviation.
picking platform (m/s), and k = the gain parameter.
Taking both situations into consideration, Equation (9) is as follows:
Ψ (t) = Ψ σ ( t ) + Ψ θ ( t ), (9)
where Ψ = the expected steering angle of the front wheel (◦ ).

Agriculture 2023, 13, 882 16 of 25
Additionally, based on the geometric relationship in the figure, the lateral deviation of
the picking platform can be expressed as Equations (10) and (11).
.
e(t) = −v(t)sin Ψθ (t), (10)
e(t) ke(t)
sin Ψθ (t) = q = q , (11)
2
2
d(t) + (e(t)) v(t) + (ke(t))2
2
.
where e(t) = the rate of change of lateral deviation.
2.4.3. The Working Process of the Automatic Navigation System

The automatic navigation system of the picking platform adopts a cross-row S-shaped
walking path, as shown in Figure 17. The corresponding road width and fruit tree height
are
2.4.3.marked
The Workingin Process
the figure. WhenNavigation
of the Automatic the pickingSystem platform performs autonomous navigation
work, it transmits the posture information obtained
The automatic navigation system of the picking platform adopts byathe Beidou
cross-row S- navigation system to the
shaped walking path, as shown in Figure 17. The corresponding road width and
industrial control computer, which sends corresponding instructions through the Stanley fruit tree
height are marked in the figure. When the picking platform performs autonomous navi-
algorithm
gation work, ittotransmits
controlthethe turning,
posture braking,
information obtainedand forward
by the movements
Beidou navigation sys- of the picking platform.
During
tem to thethe turning
industrial process,
control computer,thewhich industrial computer
sends corresponding sendsthrough
instructions corresponding instructions to
the Stanley algorithm to control the turning, braking, and forward movements of the pick-
the microcontroller that controls the steering hydraulic system, and then the microcontroller
ing platform. During the turning process, the industrial computer sends corresponding
controls
instructionsthe steering
to the hydraulic
microcontroller system
that controls for steering.
the steering hydraulicAt the and
system, same thentime, the angle sensor will
provide real-time
the microcontroller data
controls thefeedback to achieve
steering hydraulic successful
system for steering.
steering. At the same time,
the angle sensor will provide real-time data feedback to achieve successful steering.
1 1´ 2 2´ 3 3´ 4 4´
4.5m
2.5m
Figure 17. Automatic navigation driving.

Figure 17. Automatic navigation driving.
3. Results and Discussion
3.3.1.Results andand
Manufacturing Discussion
Testing the Fruit‐Picking Platform
3.1. Manufacturing and Testing the Fruit-Picking Platform
Manufacturing the Prototype
A prototype was developed by Xinnong Machinery Co., Ltd（Shijiazhuang，China）.
Manufacturing the Prototype
The overall dimensions of the autonomous navigation fruit-picking platform are 4435 mm
× 1550A prototype
mm × 2960 mm,was developed
and the prototype isby Xinnong
shown in FigureMachinery Co.,
18. The size and Ltd (Shijiazhuang, China). The
operating
width of the picking platform can meet the basic requirements of operations in dwarf,
overall dimensions of the autonomous navigation fruit-picking platform are
highly dense orchards. The walking system of the fruit-picking platform is driven by a DC
4435
motor mmwith a × 1550
rated mm
power ×kW.
of 1.5 2960 mm,
In order and the
to verify theperformance
prototype is picking
of the shown in Figure 18. The size
platform
and and promptly
operating widthdetect
ofany
theproblems
pickingthat may occurcan
platform during operation,
meet relevant
the basic requirements of operations
tests and verifications were conducted on the prototype.
in dwarf, highly dense orchards. The walking system of the fruit-picking platform is driven
by a DC motor with a rated power of 1.5 kW. In order to verify the performance of the
picking platform and promptly detect any problems that may occur during operation,
relevant tests and verifications were conducted on the prototype.
Agriculture2023,
Agriculture 13, x882
2023,13, FOR PEER REVIEW 17 of 25
19 of 26
Figure18.
Figure 18.Photo
Photoofofthe
the fruit-picking
fruit-picking platform.
platform.
3.2.
3.2. Testing
Testingthe
thePrototype
Prototype
3.2.1. Test Conditions and Materials
3.2.1. Test Conditions and Materials
The tests were conducted on the cement road and experimental orchard of Xinnong
The tests
Machinery Co.,were
Ltd., conducted on the cement
in Hebei Province. road and
The weather wasexperimental
sunny with a orchard of Xinnong
south wind of
Machinery Co., Ltd., in Hebei Province. The weather was sunny with a south wind
level one and sunny with a southwest wind of level three. The experimental equipment of level
and materials used in the performance tests included a leather tape measure, marking pen, and
one and sunny with a southwest wind of level three. The experimental equipment
materials
digital used protractor,
universal in the performance
stopwatch,tests
etc. included a leather tape measure, marking pen,
digital universal protractor, stopwatch, etc.
3.2.2. Steering Function Tests of the Picking Platform
3.2.2.The purpose
Steering of the steering
Function function
Tests of tests of
the Picking the picking platform is to verify whether
Platform
the prototype’s steering performance meets the design goals and requirements of cross-row
The purpose of the steering function tests of the picking platform is to verify whether
operations in orchards. The tests include the steering angle test and the turning radius test.
the prototype’s steering performance meets the design goals and requirements of cross-
(1) Steering angle
row operations test
in orchards. The tests include the steering angle test and the turning radius
test. The picking platform is a front-wheel steering and rear-wheel drive system. Therefore,
the
(1) steering
Steeringtest referstest
angle to relevant regulations for wheeled tractors and formulates a test
plan according to the “JB/T7279-2008 Test Methods for Mechanical Steering Systems of
WheeledTheTractors”.
picking platform is a front-wheel
Before turning the steeringsteering
wheel, a and rear-wheel
marking pen wasdrive
usedsystem.
to recordThere-
fore, the steering test refers to relevant regulations for wheeled tractors
the outer edge lines of the right front wheel and left front wheel of the picking platform.and formulates a
test plan
Then, according
the operator to thethe
turned “JB/T7279-2008
steering wheelTest Methods
to the for
right and Mechanical
left Steering
turning dead anglesSystems
in
of Wheeled
turn, recordingTractors”.
the maximum Before turning
steering the steering
angles wheel,
of the left a marking
and right pen the
wheels and used to rec-
wassteering
ord theThe
wheel. outer edge
actual testlines of the
scenario right front
is shown wheel
in Figure 19.and left front wheel of the picking plat-
form. Then, the operator turned the steering wheel to the right and left turning dead an-
gles in turn, recording the maximum steering angles of the left and right wheels and the
steering wheel. The actual test scenario is shown in Figure 19.
It is assumed that the clockwise rotation is positive and the counterclockwise rotation
is negative. The recorded maximum steering angle data of the front wheels are shown in
Table 10.
Agriculture 2023,13,
Agriculture2023, 13,882
x FOR PEER REVIEW 18 of
20 of 25
26
Figure19.
Figure 19.Steering
Steeringangle
angletest.
test.
TableIt10. Maximumthat
is assumed steering angle test results.
the clockwise rotation is positive and the counterclockwise rotation
is negative. The recorded maximum
Left Wheel Steering An- Right steering
Wheelangle dataAn-
Steering of the front wheels are shown
Parameter in Table 10. Steering Wheel Angle (°)
gle (°) gle (°)
Initial angle 0
Table 10. Maximum steering angle test results. 0 0
Right steering maximum angle 26.5 30.3 550
Left steering maximum
Parameter
angle Left−28.3
Wheel Steering −24.5
Right Wheel Steering −510
Steering Wheel Angle (◦ )
Angle (◦ ) Angle (◦ )
Initial angle It can be seen that0 the maximum steering angles
0 of the left and right turning
0 wheels
Right steering maximum angle 26.5
are 28.3° and 30.3°, respectively, which basically30.3 550design value
meets the requirement of the
Left steering maximum angle
of 30°. −28.3 −24.5 −510
(2) Turning radius test

ItThe
canturning
be seenradius
that the
of maximum steering
the platform angles
was tested of the lefttoand
according right
GB/T turning wheels
3871.5-2006 “Agri-
are 28.3 ◦ and 30.3◦ , respectively, which basically meets the requirement of the design value
cultural Tractor Test Code, Part 5: Turning Circle and Passing Circle”. The turning circle
of 30◦ . obtained when the picking platform turns to the right was selected as the minimum
radius
turning
(2) radius
Turning data of
radius the picking platform. Before testing, the driver kept the front wheels
test
of the picking platform at the maximum right turning angle. When the picking platform
The turning radius of the platform was tested according to GB/T 3871.5-2006 “Agricul-
turned a circle and left a turning circle impression, the diameter of the turning circle was
tural Tractor Test Code, Part 5: Turning Circle and Passing Circle”. The turning circle radius
measured and recorded using a leather tape measure. The test process is shown in Figure
obtained when the picking platform turns to the right was selected as the minimum turning
20.
radius data of the picking platform. Before testing, the driver kept the front wheels of the
Every test was conducted three times. The recorded turning circle diameters were
picking platform at the maximum right turning angle. When the picking platform turned a
processed to obtain the data in Table 11.
circle and left a turning circle impression, the diameter of the turning circle was measured
and recorded using a leather tape measure. The test process is shown in Figure 20.
Table 11. Turning radius measurements.
Number of Tests Turning Radius of Outer Wheel (m) Average Value (m)
1 4.6
2 4.3 4.5
3 4.7
Agriculture
Agriculture 2023,
2023, 13, 882
x FOR PEER REVIEW 21 of 26
19 of 25
Figure20.
Figure 20.Turning
Turning radius
radius testtest experiment.
experiment.
The average
Every test wasminimum
conductedturning radiusThe
three times. of the outer wheels
recorded turning of the picking
circle platform
diameters were was
processed to obtain the data in Table 11.
4.5 m. Based on the on-site measurement data of the test orchard, the maximum turning
radius allowed in the orchard is 5 m. Therefore, the picking platform meets the design
Table 11. Turningfor
requirements radius measurements.
turning radius.
Number of Tests Turning Radius of Outer Wheel (m) Average Value (m)
3.2.3. Voice Control Tests of the Picking Platform
1 4.6
The voice
2 control module and the 4.3 solenoid directional valve were 4.5 installed on the
3 4.7
prototype and the designed operation voice control system was tested in the orchard as
shown in Figure 21.
After
The waking
average up the LD3322
minimum main control
turning radius chipwheels
of the outer with a of
wake-up word,
the picking the correspond-
platform was
ingm.lifting
4.5 Basedcommands were
on the on-site used to control
measurement the
data of thelifting devicesthe
test orchard, of maximum
the front and rear fruit
turning
radius allowed in the orchard is 5 m. Therefore, the picking platform meets the
boxes of the picking platform to the maximum height. Each functional test was carried out design
requirements
five times. Thefor results
turningare
radius.
shown in Table 12.
3.2.3. Voice Control Tests of the Picking Platform
Table 12. Fruit-box-lifting device lifting height.
The voice control module and the solenoid directional valve were installed on the
Theoretical Lifting Height of Absolute
prototype and the Error
designed operation Lifting Height of Absolute Error Relative Error of
Number Relative Errorvoice
of control system was tested in the orchard as
Lifting Front Lifting
shownDe-in
ofFigure
Lifting21.
Height Rear Lifting De- of Lifting Height Lifting Height
of Tests Lifting Height (%)
Height (mm) vice (mm) After waking
(mm)up the LD3322 main control chip vicewith
(mm) (mm) the correspond-
a wake-up word, (%)
1 1940 1935 5
ing lifting commands were used0.26 1934devices of the front
to control the lifting 6 0.31
and rear fruit
2 1940 boxes of the picking
1937 3 platform to the 0.15maximum height. Each functional test
1936 4 was carried 0.21
out
3 1940 five times. The results
1934 6 are shown0.31
in Table 12. 1935 5 0.26
4 1940 1936 4 0.21 1937 3 0.15
5 1940 1934 6 0.31 1938 2 0.10
Table 12 shows that the absolute error of the maximum lifting height of the front and
rear fruit box is less than 10 mm and the relative error is less than 1%, which can meet the
requirements of orchard operations.
Using the corresponding stretching commands to control the left and right expansion
pedals of the workbench to extend to the maximum distance, five sets of data were rec-
orded and the results are shown in Table 13.
Agriculture 2023,
Agriculture 2023,13,
13,882
x FOR PEER REVIEW 20 of 2522 of 26
height H
Lifting
（a）
Stretching
distance L
（b）
Figure 21. Voice control experiments. (a) Lifting test for the fruit-box-lifting device. (b) Extension test
Figure 21. Voice control experiments. (a) Lifting test for the fruit-box-lifting device. (b) Extension
for thefor
test thethe
high-level extendable
the high-level workingworking
extendable platform.platform.
Table 12 shows that the absolute error of the maximum lifting height of the front and
Table 13. Pedal extension length.
rear fruit box is less than 10 mm and the relative error is less than 1%, which can meet the
Theoretical Leftrequirements
Extension of Extension
orchard operations.
Extension Right Extension Extension Extension
Using the corresponding stretching commands to control the left and right expansion
Number of Extension Pedal Extension Length Absolute Length Relative Pedal Extension Length Absolute Length Relative
Tests Length pedals
Lengthof the workbench
Error to extend toError
the maximum distance,
Length five sets of data were recorded
Error Error
(mm) and the
(mm) results are shown
(mm) in Table 13.
(%) (mm) (mm) (%)
1 380 376 4 1.05 378 2 0.52
2 380 375 5 1.32 376 4 1.05
3 380 373 7 1.84 375 5 1.32
4 380 374 6 1.57 377 3 0.79
5 380 375 5 1.32 376 4 1.05
Table 13 shows that the absolute errors of the length of the left and right expansion
pedals of the workbench is within the range of 10 mm and the relative error is about 1%,
which can meet the requirements of orchard operations.
Agriculture 2023, 13, 882 21 of 25
Table 12. Fruit-box-lifting device lifting height.
Absolute Error of Lifting Height of Absolute Error of

Theoretical Lifting Lifting Height of Front Relative Error of Relative Error of
Number of Tests Lifting Height Rear Lifting Device Lifting Height
Height (mm) Lifting Device (mm) Lifting Height (%) Lifting Height (%)
(mm) (mm) (mm)
1 1940 1935 5 0.26 1934 6 0.31
2 1940 1937 3 0.15 1936 4 0.21
3 1940 1934 6 0.31 1935 5 0.26
4 1940 1936 4 0.21 1937 3 0.15
5 1940 1934 6 0.31 1938 2 0.10
Table 13. Pedal extension length.
Right Extension
Theoretical Left Extension Pedal Extension Length Extension Length Extension Length Extension Length
Number of Pedal Extension
Extension Length Extension Length Absolute Error Relative Error Absolute Error Relative Error
Tests Length
(mm) (mm) (mm) (%) (mm) (%)
(mm)
1 380 376 4 1.05 378 2 0.52
2 380 375 5 1.32 376 4 1.05
3 380 373 7 1.84 375 5 1.32
4 380 374 6 1.57 377 3 0.79
5 380 375 5 1.32 376 4 1.05
Agriculture 2023, 13, 882 22 of 25
Table 13 shows that the absolute errors of the length of the left and right expansion
pedals of the workbench is within the range of 10 mm and the relative error is about 1%,
which can meet the requirements of orchard operations.
3.2.4. Automatic Navigation Tests of the Picking Platform
To verify the effectiveness of the automatic navigation control of the picking platform,
3.2.4. Automatic Navigation Tests of the Picking Platform
automatic navigation tests were conducted in the standardized demonstration orchards.
To verify the effectiveness of the automatic navigation control of the picking plat-
form,The paths
automatic were tests
navigation divided into two
were conducted types,
in the i.e., straight-line
standardized demonstration or-and U-shaped paths. The
automatic
chards. navigation tests were carried out at a designed speed of 0.4 m/s on both paths.
The paths were divided into two types, i.e., straight-line and U-shaped paths. The
The total length of the straight-line path was set as 40 m, and the total length of the
automatic navigation tests were carried out at a designed speed of 0.4 m/s on both paths.
U-shaped path
The total length was
of the 30 m. The
straight-line path test condition
was set is the
as 40 m, and shown in Figure
total length of the U-22.
shaped path was 30 m. The test condition is shown in Figure 22.
Straight line path
(a)
(b)
Figure 22. Automatic navigation tests. (a) Straight-line path navigation test. (b) U-shaped path nav-
Figure 22. Automatic navigation tests. (a) Straight-line path navigation test. (b) U-shaped path
igation test.
navigation test.
The real-time coordinate information was recorded and processed against the preset
path to calculate the actual lateral deviation. The deviation statistical results of the two
paths are shown in Tables 14 and 15.
Agriculture 2023, 13, 882 23 of 25
Table 14. Statistics of straight-line path lateral deviation.
Maximum Lateral Absolute Average Standard

Average Lateral Deviation
Number of Tests Deviation Deviation Deviation
Agriculture 2023, 13, x FOR PEER REVIEW (mm) 24 of 26
(mm) (mm) (mm)
1 100.3 3.1 39.0 20.5
2 93.2The real-time coordinate information1.4was recorded and processed against the preset
39.5 17.1
3 path to
101.5 calculate the actual lateral deviation.
−1.4 The deviation statistical results
44.1the two
of 19.5
paths are shown in Tables 14 and 15.
Table 14. Statistics of straight-line path lateral deviation.

Table 15. Statistics of U-shaped path lateral deviation.
Maximum Lateral Devi- Average Lateral Devia- Absolute Average Devia-
Standard Deviation
Number of Tests ation tion tion
Maximum Lateral (mm)Average
Absolute Standard
(mm) (mm) (mm)
Average Lateral Deviation
Number of Tests
1 Deviation
100.3 3.1 39.0 Deviation
20.5 Deviation
(mm)
2 (mm)
93.2 1.4 39.5 (mm)
17.1 (mm)
3 101.5 −1.4 44.1 19.5
1 129.2 −6.9 51.9 23.4
2 140.4
Table 1.5
15. Statistics of U-shaped path lateral deviation. 57.2 28.0
3 148.6 9.7 57.0 26.4
Maximum Lateral Devi- Average Lateral Devia- Absolute Average Devia-
Standard Deviation
Number of Tests ation tion tion
(mm)
(mm) (mm) (mm)
1 129.2 Table 14 indicates−6.9 that when the51.9 picking platform23.4 travels at a speed of 0.4 m/s, the
2 maximum lateral deviation
140.4 1.5 of the straight-line
57.2 path is 101.5
28.0 mm and the maximum absolute
3 148.6 9.7 57.0 26.4
average lateral deviation is 44.1 mm. Table 15 shows that when the picking platform
travels
Tableat a speedthatofwhen
14 indicates 0.4 the
m/s, theplatform
picking maximum travels atlateral deviation
a speed of 0.4 m/s, the of the U-shaped path is
maximum
148.6 mm lateral
anddeviation of the straight-line
the maximum absolutepath is 101.5 mmlateral
average and the maximum
deviation abso-
is 57.2 mm. The deviations
lute average lateral deviation is 44.1 mm. Table 15 shows that when the picking platform
are within a reasonable range and can meet the requirements of
travels at a speed of 0.4 m/s, the maximum lateral deviation of the U-shaped path is 148.6
automatic navigation of the
picking
mm and the platform.
maximum absolute average lateral deviation is 57.2 mm. The deviations are
withinThe
a reasonable
data fromrange and
thecanstraight-line
meet the requirements of automatic navigation
path-tracking test andofthe the U-shaped path-tracking
picking platform.
test The
weredataselected to drawpath-tracking
from the straight-line the path-tracking effect path-tracking
test and the U-shaped diagram, test as shown in Figure 23. The
actual tracking
were selected to drawpath was good,
the path-tracking effectindicating thatinthe
diagram, as shown picking
Figure platform can meet the basic
23. The actual
tracking path was good, indicating that the picking platform can meet the basic require-
requirements of autonomous driving in the orchards.
ments of autonomous driving in the orchards.
Figure 23. Effect of path tracking.

Figure 23. Effect of path tracking.
4. Summary
In order to resolve the problems of high labor intensity, low picking efficiency, and la-
bor shortage when picking dwarf high-density orchards, an automatic navigation
fruit-picking platform with a voice control system was developed in the study. The conclu-
sions can be drawn as follows:
(1) A high-level extendable working platform and fruit-box-lifting device operated via
voice control were adopted with the purpose of improving the applicability and work
efficiency of the picking platform. The accuracy of the speech recognition and the
response time of the voice control system were tested and verified via system testing.
(2) The assembly of the picking platform prototype was completed and the average
minimum turning radius of the picking platform was 4.5 m, meeting the requirements
Agriculture 2023, 13, 882 24 of 25
of the minimum turning radius in the orchard. Furthermore, the operating tests of
the voice control system were conducted on the prototype. The results showed that
both the maximum elevated height deviation of the front and rear fruit box and the
maximum distance deviation of the high-level extendable working platform pedals
were within 10 mm compared with the design value, meeting the requirements for
fruit box loading and unloading and fruit picking.
(3) Automatic navigation tests of the picking platform were conducted in the orchards.
The results indicated that at 0.4 m/s, the maximum lateral deviation in straight-
line path tracking was 101.5 mm and the maximum lateral deviation in U-shaped
path tracking was 148.6 mm. The results demonstrated that the picking platform’s
path-tracking accuracy meets the requirements for orchard picking operations.
Author Contributions: Conceptualization, Q.Z. and S.H.; methodology, K.P. and S.W.; software, H.Y.
and X.S.; validation, Y.Z.; writing—original draft preparation, S.H.; writing—review and editing,
Q.Z.; visualization, K.P.; supervision, Q.Z. All authors have read and agreed to the published version
of the manuscript.
Funding: This research was funded by the National Key R&D Program of China (2022YFD2001902).
Institutional Review Board Statement: Not applicable.
Data Availability Statement: The data presented in this study are available on request from the
corresponding author.
Conflicts of Interest: The authors declare no conflict of interest.
References
1. National Bureau of Statistics. 2020 China Statistical Yearbook. Stat. Theory Pract. 2021, 1, 2.
2. Liu, M.C. Research on the development status of forest and fruit industry at home and abroad. Flowers Plants 2017, 14, 211–212.
3. Lan, F.; Su, Z.H.; Li, Z.M.; Xie, S. Current situation and development trend of orchard picking machinery. Agric. Mech. Res. 2010,
11, 249–252.
4. Song, Z.; Wang, H.; Li, C.H.; Yu, N.W.; Zhang, X.M.; Li, H.J. Chinese apple industry existing main problems, development trend
and solutions. Jiangsu Agric. Sci. 2016, 09, 4–8.
5. Fu, W.; Liu, Y.D.; Kan, Z.; Pan, J.B.; Cui, J.; Zhang, H.M. Current situation and trend of orchard pruning machinery. Agric. Mech.
Res. 2017, 10, 7–11.
6. Wei, S.; Li, S.C.; Zhang, M.; Ji, Y.H.; Xiang, M.; Li, M.Z. Path search and steering control of agricultural machinery automatic
navigation based on GNSS. Trans. Chin. Soc. Agric. Eng. 2017, S1, 70–77.
7. Liu, J.; Yuan, J.; Cai, J.Y.; Tao, C.L.; Wang, L.M.; Cheng, W. Automatic driving system of agricultural machinery based on GPS/INS
and steering by wire. Trans. Chin. Soc. Agric. Eng. 2016, 1, 46–53.
8. Li, T.C.; Hu, J.T.; Gao, L.; Liu, X.G.; Bai, X.P. Path tracking method of agricultural machinery based on fuzzy adaptive pure
tracking model. Trans. Chin. Soc. Agric. Mach. 2013, 1, 205–210.
9. Han, K.L.; Zhu, Z.X.; Mao, E.R.; Song, Z.H.; Xie, B.; Li, M.S. Joint control method for speed and heading of navigation tractors
based on optimal control. Trans. Chin. Soc. Agric. Mach. 2013, 2, 165–170.
10. Ding, Y.C.; Xia, Z.Z.; Peng, J.Y.; Hu, Z.Q. Design and experiment of Single neuron PID Navigation Controller for Combine
Harvester. Trans. Chin. Soc. Agric. Eng. 2020, 7, 34–42.
11. Zhang, C.Y.; Dong, W.J.; Xiong, Z.Q.; Hu, Z.Q.; Wang, D.H.; Ding, Y.C. Design and experiment of fuzzy adaptive Pure Tracking
Controller for crawler rape seeder. Trans. Chin. Soc. Agric. Mach. 2021, 12, 105–114.
12. Wang, M.; Zhao, B.; Wang, C.W.; Li, H.W.; Liu, Y.C.; Fang, Z.X. Control method of turning radius of crawler tractor based on
Gaussian mixture model. Trans. Chin. Soc. Agric. Mach. 2020, S1, 557–563.
13. Gao, M.J.; Yang, Z.X.; Tian, J.W. Implementation of real-time voice control for mobile robots. Electron. Meas. Tech. 2011, 7,
53+50–79.
14. Guo, C.Y.; Fan, Y.H.; Zhang, S.; Chen, J. Research progress of orchard vehicle automatic navigation technology. J. Northeast Agric.
Univ. 2019, 8, 87–96.
15. Ji, C.Y.; Zhou, J. Development analysis of agricultural machinery navigation technology. Trans. Chin. Soc. Agric. Mach. 2014, 9,
44–54.
16. Zhang, M.; Ji, Y.H.; Li, S.C.; Cao, R.Y.; Xu, H.Z.; Zhang, Z.Q. Research progress of agricultural machinery navigation technology.
Trans. Chin. Soc. Agric. Mach. 2020, 4, 1–18.
17. Shamshiri, R.R.; Weltzien, C.; Hameed, I.A.; Yule, I.J.; Chowdhary, G. Research and development in agricultural robotics: A
perspective of digital farming. Int. J. Agric. Biol. Eng. 2018, 11, 14. [CrossRef]
Agriculture 2023, 13, 882 25 of 25
18. Li, M.; Imou, K.; Wakabayashi, K.; Yokoyama, S. Review of research on agricultural vehicle autonomous guidance. Int. J. Agric.
Biol. Eng. 2009, 2, 1.
19. Feng, Q.; Zhao, C.; Kai, J.; Fan, P.; Wang, X. Design and test of tray-seedling sorting transplanter. Int. J. Agric. Biol. Eng. 2015, 8,
14–20.
20. Lv, Q.; Cai, J.R.; Liu, B.; Deng, L.; Zhang, Y.J. Identification of fruit and branch in natural scenes for citrus harvesting robot using
machine vision and support vector machine. Int. J. Agric. Biol. Eng. 2014, 7, 115–121.
21. Guo, R.; Li, Z.; Zhao, P.; Yu, T.; Yang, Y.; Bai, X. Design and operating parameter optimization of a harvester for efficient lily bulb
cultivation. Appl. Eng. Agric. 2021, 4, 37. [CrossRef]
22. Almady, S.; Khelifi, M. Design and preliminary testing of a pneumatic prototype machine to control the colorado potato beetle.
Appl. Eng. Agric. 2021, 4, 37. [CrossRef]
23. Chang, Y.H.; Lv, X.L.; Lin, J.; Xue, X.Y.; Wang, Z.H. Current situation and development idea of the orchard mechanization. Chin. J.
Agric. Mech. 2013, 6, 21–26.
24. Albrigo, L.G.; Ehsani, R.; Albrigo, L.G.; Ehsani, R. Proceedings of the International Symposium on Application of Precision Agriculture
for Fruits and Vegetables, Orlando, Florida, USA, 6–9 January 2008; International Society for Horticultural Science (ISHS): Leuven,
Belgium, 2009.
25. Reid, J.F.; Qin, Z.; Noguchi, N.; Dickson, M. Agricultural automatic guidance research in north America. Comput. Electron. Agric.
2000, 25, 155–167. [CrossRef]
26. Zhang, Q.; Qiu, H. A dynamic path search algorithm for tractor automatic navigation. Trans. ASAE 2004, 47, 639–646. [CrossRef]
27. Cho, S.I.; Ki, N.H. Autonomous speed sprayer guidance using machine vision and fuzzy logic. Trans. ASAE 1999, 42, 1137–1143.
[CrossRef]
28. Bell, T. Automatic tractor guidance using carrier-phase differential GPS. Comput. Electron. Agric. 2000, 25, 53–66. [CrossRef]
29. Nagasaka, Y.; Saito, H.; Tamaki, K.; Seki, M.; Kobayashi, K.; Taniwaki, K. An autonomous rice transplanter guided by global
positioning system and inertial measurement unit. J. Field Robot. 2010, 26, 537–548. [CrossRef]
30. Gomez-Gil, J.; Alonso-Garcia, S.; Gómez-Gil, F.J.; Stombaugh, T. A simple method to improve autonomous GPS positioning for
tractors. Sensors 2011, 11, 5630–5644. [CrossRef] [PubMed]
31. Torii, T.; Teshima, T.; Okamoto, T.; Imou, K.; Kaizu, Y.; Taniwaki, K. Vision based navigation of a boom sprayer. J. Jpn. Soc. Agric.
Mach. 2003, 65, 70–75.
32. Song, J.; Zhang, T.Z.; Xu, L.M.; Tang, X.Y. Research progress and prospect of fruit and vegetable picking robot. Trans. Chin. Soc.
Agric. Mach. 2006, 5, 158–162.
33. Yang, C.L.; Fan, G.J.; Wang, C.W.; Song, Y.P.; Hou, J.L. Design and experiment of multifunctional fully hydraulic orchard operating
platform. Agric. Mech. Res. 2019, 1, 110–114+126.
34. Hou, Z.W. Wheeled Orchard Work Platform Performance Analysis and Simulation. Master’s Thesis, Northwest Agriculture and
Forestry University of Science and Technology, Xianyang, China, 2016.
35. Thrun, S.; Montemerlo, M.; Palatucci, M. Stanley: The robot that won the DARPA grand challenge. J. Field Robot. 2009, 23, 661–692.
[CrossRef]
Disclaimer/Publisher’s Note: The statements, opinions and data contained in all publications are solely those of the individual
author(s) and contributor(s) and not of MDPI and/or the editor(s). MDPI and/or the editor(s) disclaim responsibility for any injury to
people or property resulting from any ideas, methods, instructions or products referred to in the content.

Agriculture 13 00882 v2

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Agriculture 13 00882 v2

Uploaded by

Copyright:

Available Formats

agriculture

Agriculture 2023, 13, 882. https://doi.org/10.3390/agriculture13040882 https://www.mdpi.com/journal/agriculture

Thomas Bak et al. applied automatic navigation technology to agricultural machinery

2. Materials and Methods

Agriculture 2023, 13, 882 3 of 25

2.2. Key Component Design

Table 1. Hydraulic cylinder parameters of the high-level extendable working platform.

2.2.2. Design of the Fruit-Box-Lifting Devices

Agriculture 2023, 13, x FOR PEER REVIEW 8 of 26

The front fruit box The rear fruit box

Figure 8. Installation diagram of the fruit-box-lifting device.

Electric Right rear

When the operator drives the fruit-picking platform during Leftpicking

Fq = Ff + Fp = µmg cos θ + mg sin θ, (2)

Substituting relevant parameters, pq can be approximated as 1.074 kW. Based on the

Table 2. Drive motor parameters.

Table 3. Battery main parameter.

Table 3. Battery main parameter.

Fruit box lifting device

LD3322 Voice recognition chip

Figure 11. Schematic diagram of voice control.

Voice Recognition Keywords Voice Recognition Output Hydraulic Cylinder Actions

Recognition Rate in the Recognition Rate in the

Recognition Time in the Recognition Time in the

Table 7. Walking voice system control keywords.

Voice Recognition Keywords Voice Recognition Output Walking Actions

Connecting the relevant hardware and conducting experiments, the effectiveness of

Recognition Rate in the Recognition Rate in the

Recognition Time in the Recognition Time in the

2.4. Design of the Automatic Navigation System

Electric steering Mobile station

Angle sensor Industrial

Figure 15. Schematic diagram of the kinematic model.

The Stanley algorithm is adopted as the path-tracking control algorithm using a

Figure 16. Schematic diagram of the Stanley algorithm.

where Ψ = the expected steering angle of the front wheel

where Ψ = the expected steering angle of the front wheel (◦ ).

2.4.3. The Working Process of the Automatic Navigation System

Figure 17. Automatic navigation driving.

(2) Turning radius test

Table 12. Fruit-box-lifting device lifting height.

Absolute Error of Lifting Height of Absolute Error of

Table 13. Pedal extension length.

Straight line path

Table 14. Statistics of straight-line path lateral deviation.

Maximum Lateral Absolute Average Standard

Table 14. Statistics of straight-line path lateral deviation.

Figure 23. Eﬀect of path tracking.

You might also like