Asparagus Harvesting Robot

Irie, Naoki; Taguchi, Nobuyoshi

doi:10.20965/jrm.2014.p0267

Cited by 13 publications

(9 citation statements)

References 1 publication

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Figures 11,12,13 show the results of the automatic pear harvesting experiment. In this experiment, only the lower arm was used, and only one camera was used for harvesting.…”

Section: Resultsmentioning

confidence: 99%

“…The second category focuses primarily on robotic systems that perform all tasks from recognition to harvesting. Irie et al proposed an asparagus harvesting robot that measured whether the asparagus was tall enough to harvest using a 3D sensor [11,12]. They also proposed a robotic arm mechanism and an end effector to grasp and cut asparagus.…”

Section: Related Workmentioning

confidence: 99%

See 1 more Smart Citation

Automated harvesting by a dual-arm fruit harvesting robot

et al. 2022

View full text Add to dashboard Cite

In this study, we propose a method to automate fruit harvesting with a fruit harvesting robot equipped with robotic arms. Given the future growth of the world population, food shortages are expected to accelerate. Since much of Japan’s agriculture is dependent on imports, it is expected to be greatly affected by this upcoming food shortage. In recent years, the number of agricultural workers in Japan has been decreasing and the population is aging. As a result, there is a need to automate and reduce labor in agricultural work using agricultural machinery. In particular, fruit cultivation requires a lot of manual labor due to the variety of orchard conditions and tree shapes, causing mechanization and automation to lag behind. In this study, a dual-armed fruit harvesting robot was designed and fabricated to reach most of the fruits on joint V-shaped trellis that was cultivated and adjusted for the robot. To harvest the fruit, the fruit harvesting robot uses sensors and computer vision to detect and estimate the position of the fruit and then inserts end-effectors into the lower part of the fruit. During this process, there is a possibility of collision within the robot itself or with other fruits depending on the position of the fruit to be harvested. In this study, inverse kinematics and a fast path planning method using random sampling is used to harvest fruits with robot arms. This method makes it possible to control the robot arms without interfering with the fruit or the other robot arm by considering them as obstacles. Through experiments, this study showed that these methods can be used to detect pears and apples outdoors and automatically harvest them using the robot arms.

show abstract

“…Figures 11,12,13 show the results of the automatic pear harvesting experiment. In this experiment, only the lower arm was used, and only one camera was used for harvesting.…”

Section: Resultsmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

Automated harvesting by a dual-arm fruit harvesting robot

et al. 2022

View full text Add to dashboard Cite

show abstract

“…For efficient spear harvesting, the robot system consists of a tracked mobile platform and a delta robot. The delta robot significantly reduces picking times (below 3.5 s) when compared to serial mechanisms [24,28].…”

Section: Discussionmentioning

confidence: 99%

“…A highly effective convolutional neural network (CNN) has been developed, to detect asparagus spears [22]. Irie et al [23] presented an asparagus harvesting robot that used an electrical cart equipped with a 3D camera and robotic arm to harvest spears along the furrow: the time needed to harvest a single asparagus spear was reduced to 13.7 s. Irie and Taguchi [24], in a later study, upgraded the sensory system, to include a laser scanner, reducing the harvesting time to approximately 7.5 s per spear. Funami et al [25] created an electro-pneumatic, four-degrees-of-freedom robotic system capable of harvesting asparagus spears from ridges, even in dense vegetation.…”

Section: Introductionmentioning

confidence: 99%

Mobile Robot System for Selective Asparagus Harvesting

2023

View full text Add to dashboard Cite

Asparagus harvesting presents unique challenges, due to the variability in spear growth, which makes large-scale automated harvesting difficult. This paper describes the development of an asparagus harvesting robot system. The system consists of a delta robot mounted on a mobile track-based platform. It employs a real-time asparagus detection algorithm and a sensory system to determine optimal harvesting points. Low-level control and high-level control are separated in the robot control. The performance of the system was evaluated in a laboratory field mock-up and in the open field, using asparagus spears of various shapes. The results demonstrate that the system detected and harvested 88% of the ready-to-harvest spears, with an average harvesting cycle cost of 3.44s±0.14s. In addition, outdoor testing in an open field demonstrated a 77% success rate in identifying and harvesting asparagus spears.

show abstract

“…The second category deals primarily with robotic systems that perform everything from recognition to harvesting. Irie et al proposed an asparagus harvesting robot that measured whether the asparagus was tall enough to harvest using a 3D sensor [11,12]. They also proposed a robotic arm mechanism and an end effector to grasp and cut asparagus.…”

Section: Related Workmentioning

confidence: 99%

Automated harvesting by a dual-arm fruit harvesting robot

Yoshida

Onishi

Kawahara

et al. 2022

Preprint

View full text Add to dashboard Cite

In this study, we propose a method to automate fruit harvesting with a fruit harvesting robot equipped with robotic arms. Given the future growth of the world population, food shortages are expected to accelerate. Since much of Japan’s agriculture is dependent on imports, it is expected to be greatly affected by this upcoming food shortage. In recent years, the number of agricultural workers in Japan has been decreasing and the population is aging. As a result, there is a need to automate and reduce labor in agricultural work using agricultural machinery. In particular, fruit cultivation requires a lot of manual labor due to the variety of orchard conditions and tree shapes, causing mechanization and automation to lag behind. In this study, a dual-armed fruit harvesting robot was designed and fabricated to reach most of the fruits on joint V-shaped trellis that was cultivated and adjusted for the robot. For the fruit harvesting robot to harvest the fruit, it uses sensors and computer vision to detect and estimate the position of the fruit, and then inserts end-effectors into the lower part of the fruit. During this process, there is a possibility of collision within the robot itself or with other fruits depending on the position of the fruit to be harvested. In this study, inverse kinematics and a fast path planning method using random sampling is used to harvest fruits with robot arms. This method makes it possible to control the robot arms without interfering with the fruit or the other robot arm by considering them as obstacles. Through experiments, this study showed that these methods can be used to detect pears and apples outdoors and automatically harvest them using the robot arms.

show abstract

Asparagus Harvesting Robot

Cited by 13 publications

References 1 publication

Automated harvesting by a dual-arm fruit harvesting robot

Automated harvesting by a dual-arm fruit harvesting robot

Mobile Robot System for Selective Asparagus Harvesting

Automated harvesting by a dual-arm fruit harvesting robot

Contact Info

Product

Resources

About