Design and test of robotic harvesting system for cherry tomato
Keywords:
cherry tomato, harvesting robot, visual servo, configuration design, field testAbstract
Harvesting of fresh-eating cherry tomato was highly costly on labor and time. In order to achieve mechanical harvesting for the fresh-eating tomato, a new harvesting robot was designed, which consisted of a stereo visual unit, an end-effector, manipulator, a fruit collector, and a railed vehicle. The robot configuration and workflow design focused on the special cultivating condition. Three key parts were introduced in detail: a railroad vehicle capably moving on both ground and rail was adopted as the robot’s carrier, a visual servo unit was used to identify and locate the mature fruits bunch, and the end-effector to hold and separate the fruit bunch was designed based on the stalk’s mechanical features. The field test of the new developed robot was conducted and the results were analyzed. The successful harvest rate of the robot was 83%, however, each successful harvest averagely needed 1.4 times attempt, and a single successful harvesting cycle cost 8 s excluding the time cost on moving. Keywords: cherry tomato, harvesting robot, visual servo, configuration design, field test DOI: 10.25165/j.ijabe.20181101.2853 Citation: Feng Q C, Zou W, Fan P F, Zhang C F, Wang X. Design and test of robotic harvesting system for cherry tomato. Int J Agric & Biol Eng, 2018; 11(1): 96–100.References
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[13] Feng Q, Cheng W, Zhou J, Wang X. Design of structured-light vision system for tomato harvesting robot. Int J Agric & Biol Eng, 2014; 7(2): 19–26.
[14] Feng Q, Zhao C, Wang X, Wang X, Gong L, Liu C. Fruit bunch measurement method for cherry tomato based on visual servo. Transactions of the CSAE, 2015; 31(16): 206–212. (in Chinese)
[15] Tarrio P, Bernardos A M, Casar J R, Besada J A. A harvesting robot for small fruit in bunches based on 3-D stereoscopic vision. ASABE, 24 July 2006; Publication Number: 701P0606.
[16] Kondo N, Yata K, Iida M, Shiigi T, Monta M, Kurita M, et al. Development of an end-effector for a tomato cluster harvesting robot. Engineering in Agriculture, Environment and Food, 2010; 3(1): 20–24.
[17] Zhang K, Yang L, Zhang T. Design of an End-effector for strawberry harvesting robot. Journal of Agricultural Mechanization Research, 2009; 4: 54–56. (in Chinese)
[18] Feng Q, Ji C, Zhang J, Li W. Optimization design and kinematic analysis of cucumber harvesting robot manipulator. Transactions of the CSAM, 2010; 41(Supp): 244–248. (in Chinese)
[19] Li Z, Liu J, Li P. Relationship between mechanical property and damage of tomato during robot harvesting. Transactions of the CSAE, 2010; 26(5): 112–116. (in Chinese)
[2] Zhang T, Wu W. Start with planning Chinese tomato industry. Academic Periodical of Farm Products Processing, 2009; 175(6): 108–114. (in Chinese)
[3] Zhang T, Yang L, Chen B, Zhang B. Research process of agricultural robot technology. Science China, 2010; 40(Supp.): 71–87. (in Chinese)
[4] Li P, Lee S, Hsu H. Review on fruit harvesting method for potential use of automatic fruit harvesting systems. Procedia Engineering, 2011; 23: 351–366.
[5] Henten E J V, Tuij B A J V, Hemming J, Kornet J G, Bontsema J, Os E A V. Field test of an autonomous cucumber picking robot. Biosystems Engineering, 2003, 86(3): 305–313.
[6] Ji C, Feng Q, Yuan T, Li W. Development and performance analysis on cucumber harvesting robot system in greenhouse. Robot, 2011; 33(6):
726–730. (in Chinese)
[7] Tarrio P, Bernardos A M, Casar J R, Besada J A. A harvesting robot for small fruit in bunches based on 3-D stereoscopic vision. Computers in Agriculture and Natural Resources, 4th World Congress Conference, Florida, 2006; pp.270–275.
[8] Feng Q, Wang X, Zheng W. A new strawberry harvesting robot for elevated-trough culture. Int J Agric & Biol Eng, 2012; 5(2): 1–8.
[9] Kondo N, Ninomiya K, Hayashi S, Ota T, Kubota K. A new challenge of robot for harvesting strawberry grown on table top culture. ASAE Annual International Meeting, 2005; Paper Number: 053138.
[10] Shigehiko H, Kenta S, Satoshi Y, Ken K, Yasushi K, Junzo K, et al. Evaluation of a strawberry-harvesting robot in a field test. Biosystems Engineering, 2010; 105: 160–171.
[11] Shiigi T, Mitsutaka K, Kondo N, Ninomiya K, Rajendra P, Kamata J, et al. Strawberry harvesting robot for fruits grown on table top culture. ASABE Annual International Meeting, 2008; Paper Number: 084046.
[12] Muscato G, Prestifilippo M, Nunzio A. A prototype of an orange picking robot: past history, the new robot and experimental results. Industrial Robot, 2005; 32(2): 128–138.
[13] Feng Q, Cheng W, Zhou J, Wang X. Design of structured-light vision system for tomato harvesting robot. Int J Agric & Biol Eng, 2014; 7(2): 19–26.
[14] Feng Q, Zhao C, Wang X, Wang X, Gong L, Liu C. Fruit bunch measurement method for cherry tomato based on visual servo. Transactions of the CSAE, 2015; 31(16): 206–212. (in Chinese)
[15] Tarrio P, Bernardos A M, Casar J R, Besada J A. A harvesting robot for small fruit in bunches based on 3-D stereoscopic vision. ASABE, 24 July 2006; Publication Number: 701P0606.
[16] Kondo N, Yata K, Iida M, Shiigi T, Monta M, Kurita M, et al. Development of an end-effector for a tomato cluster harvesting robot. Engineering in Agriculture, Environment and Food, 2010; 3(1): 20–24.
[17] Zhang K, Yang L, Zhang T. Design of an End-effector for strawberry harvesting robot. Journal of Agricultural Mechanization Research, 2009; 4: 54–56. (in Chinese)
[18] Feng Q, Ji C, Zhang J, Li W. Optimization design and kinematic analysis of cucumber harvesting robot manipulator. Transactions of the CSAM, 2010; 41(Supp): 244–248. (in Chinese)
[19] Li Z, Liu J, Li P. Relationship between mechanical property and damage of tomato during robot harvesting. Transactions of the CSAE, 2010; 26(5): 112–116. (in Chinese)
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Published
2018-01-31
How to Cite
Feng, Q., Zou, W., Fan, P., Zhang, C., & Wang, X. (2018). Design and test of robotic harvesting system for cherry tomato. International Journal of Agricultural and Biological Engineering, 11(1), 96–100. Retrieved from https://ijabe.migration.pkpps03.publicknowledgeproject.org/index.php/ijabe/article/view/2853
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Power and Machinery Systems
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