Development of an end-effector for a tomato cluster harvesting robot

被引：52

作者：

Kondo N. ^{[1
]}

Yata K. ^{[2
]}

Iida M. ^{[1
]}

Shiigi T. ^{[1
]}

Monta M. ^{[3
]}

Kurita M. ^{[4
]}

Omori H. ^{[5
]}

机构：

[1] Graduate School of Agriculture, Kyoto University, Sakyo-ku, Kyoto

[2] Graduate School of Engineering, Ehime University, Matsuyama, Ehime

[3] Okayama University, Graduate School of Environmental Science, Okayama 700-8530

[4] 5 Technology Development Department, S. I. Seiko Co. Ltd., Matsuyama, Ehime 791-8036

[5] National Institute of Vegetable and Tea Science, Chita-gun, Aichi 470-2351, 40-1 Minaminakane, Taketoyo-cho

来源：

Engineering in Agriculture, Environment and Food | 2010年 / 3卷 / 01期

关键词：

End-effector; Fruit cluster; Harvesting robot; Tomato;

D O I：

10.1016/S1881-8366(10)80007-2

中图分类号：

学科分类号：

摘要：

An end-effector was developed for a tomato cluster harvesting robot. This end-effector can harvest not individual fruits but a whole fruit cluster to improve the robot's harvest efficiency. Experiments for harvesting tomato clusters were conducted in a high-density plant training system. According to a harvesting algorithm, the end-effector was able to perform well, even when target peduncle orientations were not given. Although the success rate of harvesting tomato clusters was 50 %, it is considered that this rate would improve if an end-effector is used for the high-wire tomato plant training systems in Dutch systems where the node lengths of plants are long enough to loosely hold the main stems.

引用

页码：20 / 24

页数：4

共 6 条

[1] Kawamura N., Namikawa K., Fujiura T., Ura N., Agricultural robot, Journal of JSAM, 46, 3, pp. 353-358, (1984)
[2] Kondo N., Ting K.C., Robotics for bioproduction systems, ASAE, (1998)
[3] Kondo N., Nishitsuji Y., Ling P.P., Ting K.C., Visual feedback guided robotic cherry tomato harvesting, Transactions of the American Society of Agricultural Engineers, 39, 6, pp. 2331-2338, (1996)
[4] Kondo N., Yamamoto K., Shimizu H., Yata K., Kurita M., Shiigi T., Monta M., Nishizu T., A Machine vision system for tomato cluster harvesting robot, EAEF, 2, 2, pp. 60-65, (2009)
[5] Kondo N., Tanihara K., Shiigi T., Shimizu H., Kurita M., Tsutumi M., Chong V.K., Taniwaki S., Path-planning of tomato-cluster harvesting robot to realize low vibration and speedy transportation, EAEF, 2, 3, pp. 108-115, (2009)
[6] Monta M., Kondo N., Ting K.C., End-Effectors for Tomato Harvesting Robot, Artificial Intelligence Review, 12, 1-3, pp. 11-25, (1998)

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