Harvest-order planning for a multiarm robotic harvester

Zion, Boaz; Mann, Moshe P.; Levin, David; Shilo, A.; Rubinstein, D.; Shmulevich, I.

doi:10.1016/j.compag.2014.02.008

Cited by 53 publications

(27 citation statements)

References 15 publications

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“…The idea is that a number of manipulators are mounted on the mobile robot platform, and each of the robotic arms is assigned a specific fruit to harvest. Zion from Israel has designed a multi-arm melons harvesting robot which enabled the maximum number of melons to be harvested (Zion et al, 2014). According to the idea of multi-robot cooperation for fruit harvesting, Noguchi et al (2004) also proposed a masterslave robot system for field operations.…”

Section: Multi-arms Cooperating For Robotic Harvestingmentioning

confidence: 99%

A review of key techniques of vision-based control for harvesting robot

Zhao

Gong

Huang

et al. 2016

Computers and Electronics in Agriculture

300

126

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Section: Multi-arms Cooperating For Robotic Harvestingmentioning

confidence: 99%

A review of key techniques of vision-based control for harvesting robot

Zhao

Gong

Huang

et al. 2016

Computers and Electronics in Agriculture

300

126

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“…Several options for harvesting sequencing were reviewed, including optimization of harvesting distance (Edan, Flash, Peiper, Shmulevich, & Sarig, 1991;Zion et al, 2014). The heuristic that was implemented was harvesting in a top-down sequence to facilitate harvesting of clusters, followed by closest to the center to facilitate proper visual servoing that keeps the target in the middle of the image.…”

Section: Fruit Detectionmentioning

confidence: 99%

Development of a sweet pepper harvesting robot

Arad

Balendonck

Barth

et al. 2020

Journal of Field Robotics

269

132

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This paper presents the development, testing and validation of SWEEPER, a robot for harvesting sweet pepper fruit in greenhouses. The robotic system includes a six degrees of freedom industrial arm equipped with a specially designed end effector, RGB-D camera, high-end computer with graphics processing unit, programmable logic controllers, other electronic equipment, and a small container to store harvested fruit. All is mounted on a cart that autonomously drives on pipe rails and concrete floor in the end-user environment. The overall operation of the harvesting robot is described along with details of the algorithms for fruit detection and localization, grasp pose estimation, and motion control. The main contributions of this paper are the integrated system design and its validation and extensive field testing in a commercial greenhouse for different varieties and growing conditions. A total of 262 fruits were involved in a 4-week long testing period. The average cycle time to harvest a fruit was 24 s. Logistics took approximately 50% of this time (7.8 s for discharge of fruit and 4.7 s for platform movements). Laboratory experiments have proven that the cycle time can be reduced to 15 s by running the robot manipulator at a higher speed. The harvest success rates were 61% for the best fit crop conditions and 18% in current crop conditions. This reveals the importance of finding the best fit crop conditions and crop varieties for successful robotic harvesting. The SWEEPER robot is the first sweet pepper harvesting robot to demonstrate this kind of performance in a commercial greenhouse.

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“…However, most methods for path planning are more effective and successful when the number of DOF is optimized to be small enough to achieve the purpose [82]. Also, in multiple arm robots, some machines use a prescription map to harvest many fruits at high speeds [83]. Hohimer et al [81] concluded that by increasing the degrees of freedom, the apple fruit picking robot was performing well but at the slowest speed.…”

Section: Agricultural Harvesting Robot Path Planningmentioning

confidence: 99%

An Extensive Review of Mobile Agricultural Robotics for Field Operations: Focus on Cotton Harvesting

et al. 2020

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In this review, we examine opportunities and challenges for 21st-century robotic agricultural cotton harvesting research and commercial development. The paper reviews opportunities present in the agricultural robotics industry, and a detailed analysis is conducted for the cotton harvesting robot industry. The review is divided into four sections: (1) general agricultural robotic operations, where we check the current robotic technologies in agriculture; (2) opportunities and advances in related robotic harvesting fields, which is focused on investigating robotic harvesting technologies; (3) status and progress in cotton harvesting robot research, which concentrates on the current research and technology development in cotton harvesting robots; and (4) challenges in commercial deployment of agricultural robots, where challenges to commercializing and using these robots are reviewed. Conclusions are drawn about cotton harvesting robot research and the potential of multipurpose robotic operations in general. The development of multipurpose robots that can do multiple operations on different crops to increase the value of the robots is discussed. In each of the sections except the conclusion, the analysis is divided into four robotic system categories; mobility and steering, sensing and localization, path planning, and robotic manipulation.

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Harvest-order planning for a multiarm robotic harvester

Cited by 53 publications

References 15 publications

A review of key techniques of vision-based control for harvesting robot

A review of key techniques of vision-based control for harvesting robot

Development of a sweet pepper harvesting robot

An Extensive Review of Mobile Agricultural Robotics for Field Operations: Focus on Cotton Harvesting

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