Development of a tomato harvesting robot used in greenhouse
Keywords:
tomato harvesting robot, four-wheel independent steering, automatic navigation, binocular stereo vision system, obstacle avoidance, greenhouseAbstract
A tomato harvesting robot was developed in this study, which consisted of a four-wheel independent steering system, a 5-DOF harvesting system, a navigation system, and a binocular stereo vision system. The four-wheel independent steering system was capable of providing a low-speed steering control of the robot based on Ackerman steering geometry. The proportional-integral-derivative (PID) algorithm was used in the laser navigation control system. The Otsu algorithm and the elliptic template method were used for the automatic recognition of ripe tomatoes, and obstacle avoidance strategies were proposed based on the C-space method. The maximum average absolute error between the set angle and the actual angle was about 0.14°, and the maximum standard deviation was about 0.04°. The laser navigation system was able to rapidly and accurately track the path, with the deviation being less than 8 cm. The load bearing capacity of the mechanical arm was about 1.5 kg. The success rate of the binocular vision system in the recognition of ripe tomatoes was 99.3%. When the distance was less than 600 mm, the positioning error was less than 10 mm. The time needed for recognition of ripe tomatoes and pitching was about 15 s per tomato, with a success rate of about 86%. This study provides some insights into the development and application of tomato harvesting robot used in the greenhouse. Keywords: tomato harvesting robot, four-wheel independent steering, automatic navigation, binocular stereo vision system, obstacle avoidance, greenhouse DOI: 10.25165/j.ijabe.20171004.3204 Citation: Wang L L, Zhao B, Fan J W, Hu X A, Wei S, Li Y S, et al. Development of a tomato harvesting robot used in greenhouse. Int J Agric & Biol Eng, 2017; 10(4): 140–149.References
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[2] Xiang R, Ying Y B, Jiang H Y. Development of real-time recognition and localization methods for fruits and vegetables in field. Transactions of the CSAM, 2013; 44(11): 208–219. (in Chinese)
[3] Li H, Xu L. The development and prospect of agricultural robots in China. Acta Agriculturae Zhejiangensis 2015; 27(5): 865–871.
[4] Kondo N, Yata K, Iida M, Shiigi T, Monta M, Kurita M, Omori H. Development of an end-effector for a tomato cluster harvesting robot. Engineering in Agriculture. Environment and Food, 2010; 3(1): 20–24.
[5] Feng Q C, Cheng W, Zhou J J, Wang X. Design of structured-light vision system for tomato harvesting robot. Int J Agri & Biol Eng, 2014; 7(2): 19–26.
[6] Rath T, Kawollek M. Robotic harvesting of Gerbera Jamesonii based on detection and three-dimensional modeling of cut flower pedicels. Computers and Electronics in Agriculture, 2009; 66: 85–92.
[7] Niu W, Lang L, Jing Q, Wang D. Research on robot manipulator uncalibrated visual serving under two-camera bi-axial parallel vision configuration. Advances in Mechanical Engineering, 2015; 7(4): 1–14.
[8] Xiang R, Jiang H Y, Ying Y B. Recognition of clustered tomatoes based on binocular stereo vision. Computers and Electronics in Agriculture, 2014; 106: 75–90.
[9] Ding H, Li H X. Fuzzy avoidance control strategy for redundant manipulators. Engineering Applications of Artificial Intelligence, 1999; 12: 513–521.
[10] Pi Y J, Wang X Y. Trajectory tracking control of a 6-DOF hydraulic parallel robot manipulator with uncertain load disturbances. Control Engineering Practice, 2011; 19(2): 185–193.
[11] Joel Perez P, Perez J P, Soto R, Flores A, Rodriguez F, Meza J L. Trajectory tracking error using PID control law for two-link robot manipulator via adaptive neural networks. The 2012 Iberoamerican Conference on Electronics Engineering and Computer Science: Procedia Technology, 2012; 3: 139–146.
[12] Zhao J, Cui X D, Zhu Y H, Tang S F. A new reconfigurable modular robotic system with multimode locomotion ability. International Journal, 2012; 4(2): 178–190.
[13] Tangerino G T, Godoy E P, Tabile R A, Inamasu R Y, Porto A J V. Hydraulic networked control of four wheel steering agricultural robot. International Conference on Control and Automation. America: IEEE, 2011; pp.142–147.
[14] Liu J Z, Li P P, Li Z G. Hardware design of the end-effector for tomato-harvesting robot. Transactions of the CSAM, 2008; 39(3): 109–112. (in Chinese)
[15] Ko M H, Ryuh B S, Kim K C, Suprem A, Mahalik N P. Autonomous greenhouse mobile robot driving strategies from system integration perspective: review and application. Transactions on Mechatronics. America: IEEE/ASME, 2014; pp.1–12.
[16] Pearson T. Hardware-based image processing for high-speed inspection of grains. Computers and Electronics in Agriculture, 2009; 69(1):12–18.
[17] Okamoto H, Lee W S. Green citrus detection using hyperspectral imaging. Computers and Electronics in Agriculture, 2009; 66(2): 201–208.
[18] Si Y S, Li G, Feng J. Location of apples in trees using stereoscopic vision. Computers and Electronics in Agriculture, 2015; 112: 58–74.
[19] Song S E, Cho N, Tokuda J, Hata N, Tempany C, Fichtinger G, et al. Preliminary evaluation of a MRI-compatible modular robotic system for MRI-guided prostate interventions. International Conference on Biomedical Robotics and Biomechatronics. America: IEEE RAS & EMBS, 2010; pp.796–801.
[20] Boryga M, Grabos A, Kolodziej P. Trajectory planning with obstacles on the example of tomato harvest. Agriculture and Agricultural Science Procedia, 2015; 7: 27–34.
[21] Min H S, Lin Y H, Wang S J, Wu F, Shen X. Path planning of mobile robot by mixing experience with modified artificial potential field method. Advances in Mechanical Engineering, 2015; 7(12): 1–17.
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Published
2017-07-31
How to Cite
Lili, W., Bo, Z., Jinwei, F., Xiaoan, H., Shu, W., Yashuo, L., … Chongfeng, W. (2017). Development of a tomato harvesting robot used in greenhouse. International Journal of Agricultural and Biological Engineering, 10(4), 140–149. Retrieved from https://ijabe.migration.pkpps03.publicknowledgeproject.org/index.php/ijabe/article/view/3204
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Information Technology, Sensors and Control Systems
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