Autonomous Sweet Pepper Harvesting for Protected Cropping Systems

Lehnert, Christopher; English, Andrew; McCool, Chris; Tow, Adam W.; Pérez, Tristán

doi:10.1109/lra.2017.2655622

Cited by 192 publications

(143 citation statements)

References 49 publications

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“…Some mobile robots are task‐specific, meaning that they are specially designed for one particular application. Several task‐specific mobile bases can be found in literature including the sweet pepper‐harvesting robot (Lehnert, English, McCool, Tow, & Perez, ) and robots for phenotyping (Mueller‐Sim, Jenkins, Abel, & Kantor, ). Task‐specific mobile bases can also be found in various commercial projects, for example, the weeding robots created by companies like ecoRobotix and Franklin Robotics, and harvesting robots being developed by companies like AGROBOT or Harvest CROO Robotics.…”

Section: Related Workmentioning

confidence: 99%

“…One of the major challenges is that the robots need to be able to operate equally efficiently within diverse, unconstrained environments and crop variations with a variety of features (Bac, Hemming, & Van Henten, ; Silwal et al, ). A harvesting robot is generally a tightly integrated system, incorporating advanced features and functionalities from numerous fields, including navigation, perception, motion planning, and manipulation (Lehnert, McCool, Sa, & Perez, ). These robots are also required to operate at high speed, with high accuracy and robustness and at a low cost, all features that are especially challenging in unstructured environments, such as the strawberry farm utilized for testing in this paper.…”

Section: Introductionmentioning

confidence: 99%

“…They reported that the most common detachment failure was that of the cutter missing either side of the peduncle. This team subsequently presented an improved version of Harvey, with a higher success rate of 76.5% in a modified scenario (Lehnert, McCool, et al, ). A harvesting robot was developed for greenhouse tomatoes, with a success rate of 86% and a picking speed of approximately 15 s per tomato (Lili et al, ); however, the literature provides no in‐depth analysis of their failure cases.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

An autonomous strawberry‐harvesting robot: Design, development, integration, and field evaluation

Xiong

Grimstad

et al. 2019

Journal of Field Robotics

268

133

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This paper presents an autonomous robot capable of picking strawberries continuously in polytunnels. Robotic harvesting in cluttered and unstructured environment remains a challenge. A novel obstacle‐separation algorithm was proposed to enable the harvesting system to pick strawberries that are located in clusters. The algorithm uses the gripper to push aside surrounding leaves, strawberries, and other obstacles. We present the theoretical method to generate pushing paths based on the surrounding obstacles. In addition to manipulation, an improved vision system is more resilient to lighting variations, which was developed based on the modeling of color against light intensity. Further, a low‐cost dual‐arm system was developed with an optimized harvesting sequence that increases its efficiency and minimizes the risk of collision. Improvements were also made to the existing gripper to enable the robot to pick directly into a market punnet, thereby eliminating the need for repacking. During tests on a strawberry farm, the robots first‐attempt success rate for picking partially surrounded or isolated strawberries ranged from 50% to 97.1%, depending on the growth situations. Upon an additional attempt, the pick success rate increased to a range of 75–100%. In the field tests, the system was not able to pick a target that was entirely surrounded by obstacles. This failure was attributed to limitations in the vision system as well as insufficient dexterity in the grippers. However, the picking speed improved upon previous systems, taking just 6.1 s for manipulation operation in the one‐arm mode and 4.6 s in the two‐arm mode.

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Section: Related Workmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

An autonomous strawberry‐harvesting robot: Design, development, integration, and field evaluation

Xiong

Grimstad

et al. 2019

Journal of Field Robotics

268

133

View full text Add to dashboard Cite

show abstract

“…SRFV is designed to promote the sustainable intensification of agriculture by allowing farmers to concentrate more on-farm management tasks. [2] This paper presents a new robotic harvester (Harvey) that can autonomously harvest sweet pepper in protected cropping environments. This approach combines effective vision algorithms with a novel end -effector design to enable successful harvesting of sweet pepper.…”

Section: Temperature Sensormentioning

confidence: 99%

Agribot for Polyculture and Crop Monitoring

Deepika¹

2018

IJRASET

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Automation robot is used in many of the fields such as defense, surveillance, medical field, industries and so on. This paper mainly deals with polyculture where moisture and temperature are the important parameters considered. The threshold level for moisture and temperature for each soil is predetermined by taking samples of around three soil types (clay soil, black soil, and alluvial soil). In this system, the soil moisture sensor is interfaced with the Raspberry Pi, the sensor will sense the data and it will pass the information to Raspberry Pi so that it will ON/OFF the DC motor to irrigate automatically. A webpage is created to give instructions to the robot to move forward and backward which also enables the user to get live video streaming from the farmland via the webcam.

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“…Other robots are specialized in solving one type of task, like the Robotanist (Mueller-Sim et al (2017)), a robot for high-throughput crop phenotyping. Various robots have also been developed for harvesting (Lehnert et al (2017) Feng et al (2018) and pruning (Botterill et al (2016)), while yet other robots have been developed for in-farm transportation, such as the Bin-Dog (Ye et al (2017)), a robotic platform for bin management in orchards.…”

Section: Introductionmentioning

confidence: 99%

Software Components of the Thorvald II Modular Robot

Grimstad¹,

From²

2018

MIC

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In this paper, we present the key software components of the Thorvald II mobile robotic platform. Thorvald II is a modular system developed by the authors for creating robots of arbitrary shapes and sizes, primarily for the agricultural domain. Several robots have been built and are currently operating on farms and universities at various locations in Europe. Robots may take many different forms, and may be configured for differential drive, Ackermann steering, all-wheel drive, all-wheel steering with any number of wheels etc. The software therefore needs to be configuration agnostic. In this paper we present an architecture that allows for simple setup of never-seen-before robot configurations. The presented software is organized in a collection of ROS packages, made available to the reader. These packages allow a user to create her or his own robot configurations and simulate these robots in Gazebo using a provided plugin. Although the presented packages were created to be used with Thorvald robots, they may also be useful for people who are looking to develop their own robot and are interested in testing various robot configurations in simulation before settling on a specific design. To create a robot, the user lists modules with key parameters in one single configuration file and gives this as an input to the robot at startup. Example configuration files are provided within the packages. In this paper, we discuss key aspects of the ROS packages and provide directions on where to find updated information on how to install and use these.

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Autonomous Sweet Pepper Harvesting for Protected Cropping Systems

Cited by 192 publications

References 49 publications

An autonomous strawberry‐harvesting robot: Design, development, integration, and field evaluation

An autonomous strawberry‐harvesting robot: Design, development, integration, and field evaluation

Agribot for Polyculture and Crop Monitoring

Software Components of the Thorvald II Modular Robot

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