Articles

PERFORMANCE OF MOVABLE-TYPE HARVESTING ROBOT FOR STRAWBERRIES

Article number
893_27
Pages
317 – 324
Language
English
Abstract
An elevated-substrate culture for strawberries (Fragaria × ananassa Duch.) has recently become popular in Japan, since its use prevents improper working posture of workers and helps in obtaining high yields.
In this culture, fruits hang down from an elevated structure, and humans can harvest the fruits with greater efficiency while standing.
The elevated-substrate culture is advantageous when the robot harvests the strawberries because the fruits are separated from leaves.
Several types of robots for harvesting strawberries have been developed in previous studies.
While these studies have described the basic design of robot systems, they have not collected and discussed the performance data throughout the cropping season.
In this study, we have developed a movable-type harvesting robot, which can move back and forth along a rail and harvest fruits on both its sides.
This robot consists of a cylindrical manipulator, an end-effector, a machine vision unit, a tray storage unit, and a travelling unit.
The machine vision algorithm for detecting the peduncle was substantially modified to provide sufficient information in order to equip the robot with better intelligence.
Basic performance tests were conducted throughout the cropping season (from December 2007 to May 2008).

Publication
Authors
S. Hayashi, S. Yamamoto, K. Shigematsu, K. Kobayashi, Y. Kohno, J. Kamata, M. Kurita
Keywords
automation, strawberry, successful harvesting rate
Full text
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