Design and test of tomatoes harvesting robot

Feng, Qingchun; Wang, Xiaonan; Wang, Guohua; Li, Zhen

doi:10.1109/icinfa.2015.7279423

Cited by 66 publications

(47 citation statements)

References 3 publications

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“…For example, Hemming et al (2014) designed a robot for sweet -pepper, van Henten et al (2002) proposed a robot for harvesting cucumbers and Leu et al (2017) designed a robot for the harvesting of green asparagus. Feng et al (2015), proposed a robot for picking tomato within a greenhouse that uses an installed rail to travel between the tomato vines. A 4 degree-of-freedom (DOF) arm was used with a perception system that consisted of a CCD camera attached to the linear laser projector.…”

Section: Introductionmentioning

confidence: 99%

Precision agriculture ’19

2019

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The harvesting of soft fruits and vegetables is a labour-intensive process, often representing more than 50% of the total costs for the producer. In this paper, a harvesting robot is proposed for tomato picking. The robotic solution is developed to address the needs of the tomato producers in the Shanghai region in China, one that faces population growth and therefore a higher demand on food supply. The robotic system presented here consists of a variable-stiffness manipulator arm, a soft robot gripper, and different types of sensors that are used to identify and locate in 3D and pick the tomatoes. The implemented variable compliance enables the robot manipulator to work in a semistructured environment without damage to itself, the crop, or the surrounding. In this paper, the hardware and the software of the robot is described in detail. Early results from the first testing of a proof-of-concept on fresh tomatoes placed on artificial stems in Shanghai are presented, as well as picking UK tomato varieties in greenhouse conditions.

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Section: Introductionmentioning

confidence: 99%

Precision agriculture ’19

2019

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“…Similarly, Wang et.al. utilized a SCARA type serial manipulator mounted on the top of the mobile robot [4]. However, Takaaki proposed hard continuum manipulator with a flexible structure, which has proven to be safe with wide reachability but possessing a low payload capacity [5].…”

Section: Introductionmentioning

confidence: 99%

Development of Continuum Robot Arm and Gripper for Harvesting Cherry Tomatoes

Yeshmukhametov¹,

Koganezawa²,

Buribayev³

et al. 2019

Preprint

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Designing and development of agricultural robot is always a challenging issue, because of robot intends to work an unstructured environment and at the same time, it should be safe for the surrounded plants. Therefore, traditional robots cannot meet the high demands of modern challenges, such as working in confined and unstructured workspaces. Based on current issues, we developed a new tomato harvesting wire-driven discrete continuum robot arm with a flexible backbone structure for working in confined and extremely constrained spaces. Moreover, we optimized a tomato detaching process by using newly designed gripper with passive stem cutting function. Moreover, by designing the robot we also developed ripe tomato recognition by using machine learning. This paper explains the proposed continuum robot structure, gripper design, and development of tomato recognition system.

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“…Focusing now on the last decade, we can mention works devoted to the design of mobile manipulators for specific tasks, like white asparagus harvesting [10], tomato harvesting [11,12], weed and pest control [13], or considering the development of platforms for different field operations, but lacking an arm, like the Thorvald platform [14], or focused on the development of arms or grippers optimized for specific tasks [15][16][17][18], or taking into account other modular, flexible and low-cost solutions, as the ones described in [19][20][21][22][23].…”

Section: Introductionmentioning

confidence: 99%

“…About mobile manipulators, which are the matter of this work, it must be noticed that the solutions proposed in [10][11][12] are all task specific. Moreover, the solution proposed in [12] is based on an omni-directional platform that is not suitable for off-road navigation, while the robot described in [11] is only for greenhouse use.…”

Section: Introductionmentioning

confidence: 99%

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ROBI’: A Prototype Mobile Manipulator for Agricultural Applications

2017

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Abstract:The design of ROBI', a prototype mobile manipulator for agricultural applications devised following low-cost, low-weight, simplicity, flexibility and modularity requirements, is presented in this work. The mechanical design and the selection of the main components of the motion control system, including sensors and in-wheel motors, is described. The kinematic and dynamic models of the robot are also derived, with the aim to support the design of a trajectory tracking system and to make a preliminary assessment of the design choices, as well. Finally, two simulations, one specifically related to a realistic trajectory in an agricultural field, show the validity of these choices.

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Design and test of tomatoes harvesting robot

Cited by 66 publications

References 3 publications

Precision agriculture ’19

Precision agriculture ’19

Development of Continuum Robot Arm and Gripper for Harvesting Cherry Tomatoes

ROBI’: A Prototype Mobile Manipulator for Agricultural Applications

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