Development of an autonomous tomato harvesting robot with rotational plucking gripper

Yaguchi, Hiroaki; Nagahama, Kotaro; Hasegawa, Takaomi; Inaba, Masayuki

doi:10.1109/iros.2016.7759122

Cited by 129 publications

(68 citation statements)

References 12 publications

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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%

“…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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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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ROBI’: A Prototype Mobile Manipulator for Agricultural Applications

2017

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“…Second, strawberries are small in size and tend to grow in clusters, which makes it difficult to identify and pick individual strawberries (Xiong et al, 2019;Yamamoto et al, 2014). Picking in clusters with dense obstacles is one of the main challenges for strawberry harvesting (Xiong et al, 2019;Yamamoto et al, 2014) as well as for many other crop harvesting systems, such as tomato harvesting (Yaguchi, Nagahama, Hasegawa, & Inaba, 2016) and sweet pepper robot (Bac et al, 2016).…”

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confidence: 99%

An autonomous strawberry‐harvesting robot: Design, development, integration, and field evaluation

Xiong

Grimstad

et al. 2019

Journal of Field Robotics

289

133

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This paper presents an autonomous robot capable of picking strawberries continuously in polytunnels. Robotic harvesting in cluttered and unstructured environment remains a challenge. A novel obstacle‐separation algorithm was proposed to enable the harvesting system to pick strawberries that are located in clusters. The algorithm uses the gripper to push aside surrounding leaves, strawberries, and other obstacles. We present the theoretical method to generate pushing paths based on the surrounding obstacles. In addition to manipulation, an improved vision system is more resilient to lighting variations, which was developed based on the modeling of color against light intensity. Further, a low‐cost dual‐arm system was developed with an optimized harvesting sequence that increases its efficiency and minimizes the risk of collision. Improvements were also made to the existing gripper to enable the robot to pick directly into a market punnet, thereby eliminating the need for repacking. During tests on a strawberry farm, the robots first‐attempt success rate for picking partially surrounded or isolated strawberries ranged from 50% to 97.1%, depending on the growth situations. Upon an additional attempt, the pick success rate increased to a range of 75–100%. In the field tests, the system was not able to pick a target that was entirely surrounded by obstacles. This failure was attributed to limitations in the vision system as well as insufficient dexterity in the grippers. However, the picking speed improved upon previous systems, taking just 6.1 s for manipulation operation in the one‐arm mode and 4.6 s in the two‐arm mode.

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“…Harvesting in Tomato Robot Competition Stage 2 [6] Harvesting in Tomato Robot Competition Stage 3 [6] Harvesting in Real Farm[6] …”

mentioning

confidence: 99%

A Research of Construction Method for Autonomous Tomato Harvesting Robot focusing on Harvesting Device and Visual Recognition

Yaguchi

Hasegawa

Nagahama

et al. 2018

JRSJ

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In this paper we propse a construction method of autonomous tomato harvesting robot. For tomato harvesting we focus to harvesting device and visual recognition method. We propose 2 types of harvesting method; cutting scissor and rotational plucking gripper. For recognition, we compare different 3 types of 3D camera, then we construct tomato fruit recognition method using color detection and sphere shape fitting, and also propose tomato pedicel detection method by robust estimation using direction from center of fruit to pedicel and gradient orientation of pedicel edge. Combining these elements, we construct some autonomous harvesting systems and evaluate harvesting of real tomatoes in the tomato robot competition and the real farming veniel house. According to evaluation results, both cutting and plucking has different advantage and disadvantage, it is important to select appropriate one for breed or individual. Also for recognition, pedicel recognition, which must be broken, increases reliability harvesting.

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Development of an autonomous tomato harvesting robot with rotational plucking gripper

Cited by 129 publications

References 12 publications

ROBI’: A Prototype Mobile Manipulator for Agricultural Applications

ROBI’: A Prototype Mobile Manipulator for Agricultural Applications

An autonomous strawberry‐harvesting robot: Design, development, integration, and field evaluation

A Research of Construction Method for Autonomous Tomato Harvesting Robot focusing on Harvesting Device and Visual Recognition

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