Robotic Manipulation for Specialty Crop Harvesting: A Review of Manipulator and End-Effector Technologies

Davidson, Joseph R.; Bhusal, Santosh; Mo, Changki; Karkee, Manoj; Zhang, Qin

doi:10.35251/gjaas.2020.004

Cited by 35 publications

(20 citation statements)

References 83 publications

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“…As they are also delicate tasks and the environment in which the harvesting of tree fruit needs to occur has a big variety a lot of research has been done to automate this without much commercially available harvesting solutions so far. The studies developing complete systems have focused largely on planning algorithms to reach fruits and grippers to ensure correct gripping without damaging the fruit (Davidson et al, 2020;Zhang et al, 2020). The review paper presented by Davidson for example links to several other studies presenting also the formal design processes used.…”

Section: Discussionmentioning

confidence: 99%

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Literature study on robotic tree harvesting and pruning : The Next Fruit 4.0 - Multifunctional robot deliverable 1

Blok¹,

Hemming

Nishikawa³

et al. 2022

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This report contains three literature studies. In the literature study on pear detection methods the most relevant and recent publications on deep-learning based image analysis methods for fruit detection have been studied. Four software methods are popular: instance segmentation + 3D vertex normal estimation; extremely accurate instance segmentation; key-point detection and panoptic segmentation. The literature study robotic tree fruit harvesting groups the literature in methods for approaching the fruit/target, gripper requirements and manipulation patterns. For the literature study on machine vision systems for robotic pruning, a closer look is taken to literature describing the sensing system (mainly 2D or 3D cameras), data pre-processing (to create a high quality point clouds and to improve the accuracy) and key-point detection (to define pruning locations).

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Section: Discussionmentioning

confidence: 99%

“…Earlier studies have shown the following general functional requirements for a fruit harvesting robot (Davidson et al, 2020):…”

Section: Harvesting Robot Functional Requirementsmentioning

confidence: 99%

Literature study on robotic tree harvesting and pruning : The Next Fruit 4.0 - Multifunctional robot deliverable 1

Blok¹,

Hemming

Nishikawa³

et al. 2022

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“…Due to the fragility of sugar beets and the stringent requirements for the quality of the final product, harvesting is a crucial operation [8][9][10]. Efficient and high-quality harvesting, using specialized machines such as multi-row self-propelled harvesters, is mandatory [11][12][13][14]. Nowadays, some modern harvesters have the possibility of installing adaptive devices based on computer vision systems, by which a significant amount of losses during the harvesting process can be reduced, thanks to, for instance, a digital two-dimensional recording system combined with a convolutional neural network (CNN) for detecting defects in harvested sugar beets [15,16].…”

Section: Introductionmentioning

confidence: 99%

Theoretical Study of the Motion of a Cut Sugar Beet Tops Particle along the Inner Surface of the Conveying and Unloading System of a Topping Machine

Pascuzzi,

Bulgakov,

Holovach

et al. 2024

AgriEngineering

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One of the most delicate operations in the sugar beet harvesting process is removing the tops from the heads of the root crops without any mechanical damages. The aim of this study is to improve the design of the conveying and unloading system of the sugar beet topper machine. In this paper, a mathematical model of the motion of a cut beet tops particle M, along the conveying and unloading system, has been developed to support the evaluation of kinematic and design parameters, depending on the rotational speed of the thrower blade, the air flow speed, the required ejection speed of particle M, and the position of the trailer that moves alongside the harvester. It has been established that increasing the speed Va of the top particle M, which has left the end of the blade of the thrower, leads to an increase in the arc coordinate S(t) of its movement along the cylindrical section of the casing. Within the range of the speed change from 4 m·s–1 to 8 m·s–1, the value of the arc coordinate S(t) increases by 1.4 times during time t = 0.006 s. Moreover, a rapid decrease in speed V is observed with an increase in the length x of the discharge chute.

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“…With the trend of high-tech industrialization in the world, automated production using manipulator equipment will be an inevitable trend for every country to experience [4], and it is also the first choice for customers to choose suppliers. Now, there are still many mechanical factories in China that use manual loading and unloading to produce.…”

Section: Introductionmentioning

confidence: 99%

Design of the Manipulator System for Automatic Detection Line of Mechatronic Straight Side Press

2022

IJOMAM

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The current work aims to solve the various phenomena in the current mechanical production. For example, the manufacturing plants require many high-quality employees, the phenomenon that frequent problems in mechanical production and errors in the production process occur due to the contradiction between high-quality requirements and the uneven quality of employees, and the production efficiency of traditional human mechanization failing to meet the social trend of intelligent production. There is an urgent need for an intelligent mechanical device that enables ordinary employees to operate according to the process. Therefore, the current types of intelligent equipment are analyzed in mechanical intelligent production, and intelligent manipulators are used for the research. With the support of the technology of the mechatronic straight side pressure, a manipulator system is established, and the system is set to two modes of operation: automatic control and semi-manual control, and simultaneously, it also avoids the occurrence of errors when the manipulator working unattended for long periods of time. After elaborating the relevant technical requirements and support, the established system of the manipulator is simulated and analyzed. By analyzing the kinematic performance of the manipulator, it is verified whether it can finish the complete blanking work. The result shows that the kinematic performance is good, and it can complete a set of blanking processes through mechanical operation, which can adapt to the current requirements of automatic mechanical production. And the success rate of multiple loading and unloading is also high using four kinds of materials, and the moving process of loading and unloading is also very stable. Therefore, it provides effective theoretical support for automatic intelligent manufacturing.

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Robotic Manipulation for Specialty Crop Harvesting: A Review of Manipulator and End-Effector Technologies

Cited by 35 publications

References 83 publications

Literature study on robotic tree harvesting and pruning : The Next Fruit 4.0 - Multifunctional robot deliverable 1

Literature study on robotic tree harvesting and pruning : The Next Fruit 4.0 - Multifunctional robot deliverable 1

Theoretical Study of the Motion of a Cut Sugar Beet Tops Particle along the Inner Surface of the Conveying and Unloading System of a Topping Machine

Design of the Manipulator System for Automatic Detection Line of Mechatronic Straight Side Press

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