000146610 001__ 146610
000146610 005__ 20241126113441.0
000146610 037__ $$aTAZ-TFG-2024-2766
000146610 041__ $$aeng
000146610 1001_ $$aPalos Portoles, Ignacio Antonio
000146610 24200 $$aToward Sustainable Harvests: Designing an Automated Picking Robot for Peaches
000146610 24500 $$aHacia La recogida de frutas sostenible: diseño de un robot para la recogida de melocotones
000146610 260__ $$aZaragoza$$bUniversidad de Zaragoza$$c2024
000146610 506__ $$aby-nc-sa$$bCreative Commons$$c3.0$$uhttp://creativecommons.org/licenses/by-nc-sa/3.0/
000146610 520__ $$aThe high prices of fruit and the hard work of the pickers create a need for automation in the fruit picking process. In this paper, a solution for the harvesting of the BabyGold9 peach variety is proposed. For this purpose, the main characteristics on which a correct automation depends are analysed and different solutions for the three main systems are discussed. According to the identification system, the YOLOv8s-P software is proposed, which will capture images using Real Intel Sense D43Di cameras. The navigation system is divided into two sub-systems, one in charge of mapping the environment and knowing the location and the other one who plans the routes to the peach. To tackle both tasks, the Gmapping software has been proposed with the T265 camera that will map the environment and the RRT* algorithm which is in charge of creating routes avoiding obstacles. A cost estimation and a performance evaluation will be presented in order to know what minimum requirements the robot should have in order to be able to replace human beings. Finally, a commercial end-effector and manipulator have been chosen for the picking system. These are a three-finger soft end-effector developed by the company SoftGripping and the UR5e robotic arm developed by Universal Studios. Finally, an explanation of how it should be tested and the necessary parameters to be analysed is given.<br />
000146610 521__ $$aGraduado en Ingeniería Mecánica
000146610 540__ $$aDerechos regulados por licencia Creative Commons
000146610 691__ $$a2 8 9
000146610 692__ $$aSe trata del desarrollo de un robot que recogerá melocotones, optimizando el proceso. Esto provocará una reducción de costes en la compra del melocoton , ayudando al objetivo de hambre cero. Además, el trabajo precario del recolector de fruta será sustituido por una mejorá en sus condiciones ya que pasarña de recoger fruta a controlar al robot (punto 8). Finalmente, se trata de una investigación en el ámbito revolucionario de la agricultura de precisión (punto 9).
000146610 700__ $$aIrsa, Wolfram $$edir.
000146610 700__ $$aBrosed Dueso, Francisco Javier$$edir.
000146610 7102_ $$aUniversidad de Zaragoza$$bIngeniería de Diseño y Fabricación$$cIngeniería de los Procesos de Fabricación
000146610 8560_ $$f818971@unizar.es
000146610 8564_ $$s9311785$$uhttps://zaguan.unizar.es/record/146610/files/TAZ-TFG-2024-2766.pdf$$yMemoria (eng)
000146610 909CO $$ooai:zaguan.unizar.es:146610$$pdriver$$ptrabajos-fin-grado
000146610 950__ $$a
000146610 951__ $$adeposita:2024-11-26
000146610 980__ $$aTAZ$$bTFG$$cEINA
000146610 999__ $$a20240624092938.CREATION_DATE