Development of a Stationary Robotic Strawberry Harvester with a Picking Mechanism that Approaches the Target Fruit from Below

JARQ : Japan Agricultural Research Quarterly
ISSN 00213551
書誌レコードID(総合目録DB) AA0068709X
本文フルテキスト
48-03-02.pdf612.75 KB

A stationary robotic strawberry harvester, combinable with a movable bench system, was developed. Initially, the features of strawberries, such as the visibility of fruit, the picking force required, and spectral reflectance were investigated. Subsequently, a machine-vision system was constructed, comprising units to measure position and coloration respectively. Considering the visibility of strawberry fruit, these units were optimally located to detect mature fruit and estimate their coloration. White, red, and green light-emitting diodes were installed for more accurate coloration measurement. The average error was 5.4%, and its standard deviation was 10.8%. We developed an end-effector with three functions: 1) to prevent the fruit adjoining the target fruit from being touched during the approach, 2) to force adjoining fruit away from the target fruit during the picking motion, and 3) to remove peduncles from harvested fruit, as done manually. The performance test confirmed that the stationary robotic harvester outperformed the conventional robots, namely, the harvester achieved a stable high harvesting success rate of 67.1%, and was able to successfully remove the peduncles from 88.0% of the harvested fruit.


刊行年月日
作成者 YAMAMOTO Satoshi HAYASHI Shigehiko YOSHIDA Hirotaka KOBAYASHI Ken
著者キーワード

end-effector

machine vision

movable bench system

plant factory

公開者 Japan International Research Center for Agricultural Sciences
オンライン掲載日
国立情報学研究所メタデータ主題語彙集(資源タイプ) Journal Article
48
3
開始ページ 261
終了ページ 269
DOI 10.6090/jarq.48.261
権利 Japan International Research Center for Agricultural Sciences
言語 eng

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