A prototype of an orange picking robot: past history, the new robot and experimental results

Muscato, Giovanni; Prestifilippo, Michele; Abbate, Nunzio; Rizzuto, Ivan

doi:10.1108/01439910510582255

Cited by 83 publications

(46 citation statements)

References 14 publications

(12 reference statements)

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“…Sarig (1993) reviewed state-of-the-art of robotics in harvesting, pointing out the necessities to optimize R&D work required for the realization of robotic harvesting. Achievements in fruit and vegetable handling have been found in picking harvesting systems for products such as: strawberries (Hayashi et al, 2010), cucumbers (Van Henten et al, 2009), tomatoes (Monta et al, 1998a,b;Ceccarelli et al, 2000), aubergines (Hayashi et al, 2002), apples (Setiawan et al, 2004), chicories (Foglia and Reina, 2006), and oranges (Muscato et al, 2005).…”

Section: Product Manipulation and Physical Properties Of Horticulturamentioning

confidence: 99%

Review. Technologies for robot grippers in pick and place operations for fresh fruits and vegetables

Blanes

Mellado

Ortíz

et al. 1970

Span. j. agric. res.

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Robotics has been introduced in industry to replace humans in arduous and repetitive tasks, to reduce labour costs and to ensure consistent quality control of the process. Nowadays robots are cheaper, can work in hostile and dirty environments and they are able to manipulate products at high speed. High speed and reliability and low robot gripper costs are necessary for a profitable pick and place (P&P) process. However, current grippers are not able to handle these products properly because they have uneven shapes, are flexible and irregular, have different textures and are very sensitive to being damaged. This review brings together the requirements and phases used in the process of manipulation, summarises and analyses of the existing, potential and emerging techniques and their possibilities for the manipulation of fresh horticultural products from a detailed study of their characteristics. It considers the difficulties and the lack of engineers to conceive of and implement solutions. Contact grippers with underactuated mechanism and suction cups could be a promising approach for the manipulation of fresh fruit and vegetables. Ongoing study is still necessary on the characteristics and handling requirements of fresh fruit and vegetables in order to design grippers which are suitable for correct manipulation, at high speed, in profitable P&P processes for industrial applications.Additional key words: food manipulation; horticulture grasp; postharvest science and technology; robotic product handling. ResumenRevisión. Tecnologías en garras robotizadas para operaciones de coger y dejar productos hortofrutícolas frescos La robótica ha sido introducida en la industria para reemplazar a los humanos en tareas arduas y repetitivas, reducir mano de obra y para asegurar una calidad constante de los procesos. Actualmente los robos son más baratos, capaces de manipular productos a alta velocidad y de trabajar en ambientes hostiles. Por tanto, los robots pueden trabajar en operaciones de "coger y dejar" (pick & place, P&P) con frutas y hortalizas frescas. Para un proceso rentable de P&P, son necesarias una alta velocidad y fiabilidad, así como un bajo coste de los sistemas de agarre. Este artículo de revisión recopila las necesidades y fases empleadas en el proceso de manipulación, reuniendo y analizando las técnicas existentes, potenciales y emergentes y sus posibilidades de aplicación para la manipulación de productos hortofrutícolas frescos a partir del estudio detallado de sus características. Considera las dificultades y la falta de ingenieros para concebir e implementar soluciones. Los autores proponen las alternativas más prometedoras para acometer este difícil problema y consideran la necesidad de seguir estudiando las características de frutas y vegetales frescos y las necesidades de manipulación. Las garras de contacto con mecanismos infra-actuados y ventosas o agarrar el producto sin contacto pueden ser las alternativas más prometedoras para manipular frutas y vegetales frescos. Es necesario continuar e...

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Section: Product Manipulation and Physical Properties Of Horticulturamentioning

confidence: 99%

Review. Technologies for robot grippers in pick and place operations for fresh fruits and vegetables

Blanes

Mellado

Ortíz

et al. 1970

Span. j. agric. res.

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“…While this unfortunate outcome cannot be blamed solely on the failure of machine vision to handle the challenges posed by the unconstrained and unstructured agricultural environment, it is undeniable that successful machine vision is critical for achieving high detection rates of ripe fruit in real time. The challenge of developing a cost-effective robotic system for fruit picking has been taken up by researchers at several places in the world [1][2][3].…”

Section: Introductionmentioning

confidence: 99%

A Review on Apple Detection Methods for Harvesting Robot

Joshi¹

2017

IJMUE

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Nowadays robot is used to harvest fruit from trees.One major difficulty in developing system for selectively harvest fruits is to define the location, size and ripeness of individual fruits. These provisions are required to guide a mechanical arm towards the object. The computer vision approaches used to recognize a fruit depends on four basic features i.e. intensity, colour, shape and texture. In this paper, a review of different approaches to recognize and locate the apples is presented.

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“…Other examples of the use of machine vision technology operating in the field are those applied to automate the harvesting task. For instance, Kondo et al (2005) and Guo et al (2008) used this technology for robotic strawberry harvesting, Ling et al (2004) for tomatoes, Edan et al (2000) for melons, Muscato et al (2005) for oranges and Van Henten et al (2000) for cucumbers, among others.…”

Section: Introductionmentioning

confidence: 99%

Analysis of the detachment of citrus fruits by vibration using artificial vision

Torregrosa

Albert

Aleixos

et al. 2014

Biosystems Engineering

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ElsevierAlbert Gil, FE.; Aleixos Borrás, MN.; Torregrosa Mira, A.; Ortiz Sánchez, MC.; Blasco Ivars, J. (2014). Analysis of the detachment of citrus fruits by vibration using artificial vision. Biosystems Engineering. 119:1-12. doi:10.1016/j.biosystemseng.2013.12.010. Analysis of the detachment of citrus fruits by vibration using artificial vision AbstractThe vibratory behaviour of citrus fruits is studied using slow-motion cameras in order to gain a better understanding of the parameters involved in fruit detachment when mechanical harvesting is done using shakers. Single citrus fruits with a small portion of stem were vibrated using strokes from 60 mm to 180 mm and frequencies from 3 Hz to 18 Hz. The movement was recorded at 300 fps and the main parameters considered for fruit detachment were determined through the analysis of the video sequences. Image processing algorithms created for this purpose were applied to the automated estimation of the centroid of the fruit, the angle of the stem-pistil axis, and the position of some selected points in the fruit in each frame of the video sequences to obtain dynamic parameters such as the position, speed and acceleration of the fruit during the movement until it is detached. The signals obtained from the image processing were filtered, providing results in accordance with the calibration systems. In general, results suggest that the inertial forces transmitted to the fruit were lower than the tensile forces required to detach the fruit by pulling it in the stem-pistil direction. The largest peaks were observed using long strokes that required fewer cycles for detachment. On the other hand, short strokes combined with high frequencies needed more cycles, and thus a fatigue phenomenon was present. Short strokes and low frequencies were unable to detach some fruit.

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A prototype of an orange picking robot: past history, the new robot and experimental results

Cited by 83 publications

References 14 publications

Review. Technologies for robot grippers in pick and place operations for fresh fruits and vegetables

Review. Technologies for robot grippers in pick and place operations for fresh fruits and vegetables

A Review on Apple Detection Methods for Harvesting Robot

Analysis of the detachment of citrus fruits by vibration using artificial vision

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