Journal of Biosystems Engineering

  • 제37권1호
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  • Pages.65-74
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  • 2012
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  • 1738-1266(pISSN)
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  • 2234-1862(eISSN)
한국농업기계학회 (Korean Society for Agricultural Machinery)
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Strawberry Harvesting Robot for Bench-type Cultivation

  • Han, Kil-Su (National Academy of Agricultural Science, RDA) ;
  • Kim, Si-Chan (Department of Bio-Mechatronic Engineering, Sungkyunkwan University) ;
  • Lee, Young-Bum (National Academy of Agricultural Science, RDA) ;
  • Kim, Sang-Chul (National Academy of Agricultural Science, RDA) ;
  • Im, Dong-Hyuk (National Academy of Agricultural Science, RDA) ;
  • Choi, Hong-Ki (National Academy of Agricultural Science, RDA) ;
  • Hwang, Heon (Department of Bio-Mechatronic Engineering, Sungkyunkwan University)
  • 투고 : 2011.02.14
  • 심사 : 2012.02.28
  • 발행 : 2012.02.25
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초록

Purpose: An autonomous robot was developed for harvesting strawberries cultivated in bench-type systems. Methods: The harvest robot consisted of four main components: an autonomous vehicle, a manipulator with four degrees of freedom (DOF), an end effector with two DOFs, and a color computer vision system. Strawberry detection was performed based on 3D image and distance information obtained from a stereo CCD color camera and a laser device, respectively. Results: In this work, a Cartesian type manipulator system was designed, including an intermediate revolute axis and a double driven arm-based joint axis, so that it could generate collision-free motions during harvesting. A DC servomotor-driven end-effector, consisting of a gripper and a cutter, was designed for gripping and cutting the strawberry stem without damaging the strawberry itself. Real-time position tracking algorithms were developed to detect, recognize, trace, and approach strawberries under natural light conditions. Conclusion: The developed robot system could harvest a strawberry within 7 seconds without damage.

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참고문헌

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피인용 문헌

  1. Harvesting Robots for High-value Crops: State-of-the-art Review and Challenges Ahead vol.31, pp.6, 2014, https://doi.org/10.1002/rob.21525
  2. A review of key techniques of vision-based control for harvesting robot vol.127, 2016, https://doi.org/10.1016/j.compag.2016.06.022
  3. Design of an eye-in-hand sensing and servo control framework for harvesting robotics in dense vegetation vol.146, 2016, https://doi.org/10.1016/j.biosystemseng.2015.12.001
  4. Autonomous Sweet Pepper Harvesting for Protected Cropping Systems vol.2, pp.2, 2017, https://doi.org/10.1109/LRA.2017.2655622
  5. Two-stage approach for detecting slightly overlapping strawberries using HOG descriptor vol.115, pp.2, 2013, https://doi.org/10.1016/j.biosystemseng.2013.03.011
  6. Real-time segmentation of strawberry flesh and calyx from images of singulated strawberries during postharvest processing vol.142, 2017, https://doi.org/10.1016/j.compag.2017.09.011
  7. Collision-free control of a strawberry-harvesting robot by recognition of immature fruits vol.25, pp.1, 2013, https://doi.org/10.2525/shita.25.29
  8. Colored Object Sorting using 5 DoF Robot Arm based Artificial Neural Network (ANN) Method vol.1090, pp.1742-6596, 2018, https://doi.org/10.1088/1742-6596/1090/1/012070
  9. Evaluation of approach strategies for harvesting robots: Case study of sweet pepper harvesting pp.1573-0409, 2019, https://doi.org/10.1007/s10846-018-0892-7