Journal of Biosystems Engineering

Korean Society for Agricultural Machinery (한국농업기계학회)
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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)
  • Received : 2011.02.14
  • Accepted : 2012.02.28
  • Published : 2012.02.25
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Abstract

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.

Keywords

References

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