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Bhosle B. S.

11AG61R04Farm Machinery And Power

Cherry Harvesting Robot


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INTRODUCTION

y Necessity of Cherry harvesting robot.

y Binocular stereo-vision.

y 3 D vision system.

y Position sensing device (PSD).


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MATERIALS AND METHODS

Cultivation cycle:

Vase form training: Fruits will be distributed

widely in large cherry crown.

Single trunk training: Fruits are located aroundthe trunk.


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Fig.1. Single Trunk Training (Nara fruit tree

research center, Nara prefecture, Japan)


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y


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MANUPULATOR

Axis of up and down traverse:

Driven by AC servomotor and a screw mechanism.

Three axes of right-left turning:

Driven by small AC servomotors and Harmonicreduction gears.


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3-D VISION SENSOR

Light projector.

Photo detector.

Scanning device.


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Fig. 3. 3-D vision sensor. It is equipped with a light

projector, a photo detector, and scanning device.


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Fig. 4. Example of images. Fruit image is expanded in the red

image.

(a) Experimental cherry. (b) Infrared image. (c) Red image.

(d) Range image. (e) Segmentation.


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ENDEFFECTORS:

Fig. 5. End Effector. It consisted a fruit sucking device, an open-

close mechanism, back-forth mechanism, and a pair of fingers.


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Fig. 6. Motion Of End Effectors.

(a) Sucking a fruit. (b) Fingers move forward and close halfway

(c) Fingers move further and grip peduncles (d) End effector detachespeduncle


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RESULTS ANDDISCUSSION

y Image recognition experiment:

Cherry trees used for experiment were ofkoulkanishiki variety

Cherry trees were 2m in height.

They were cultivated by using single trunk training.


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CONTDu

The cherry trees were scanned from four direction:

the left of the trunk, left front, right front, the rightof the trunk.

The experiment was conducted by using 3-D visionsensor.


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Fig. 7. Scanning direction.


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Harvesting experiment:

The harvesting experiment was conducted with

same cherry trees.

If there was more than one fruit, the fruit nearest

the robot was harvested first.

To approach without collision, mid point was

decided.


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Fig. 8. Flow chart of harvesting operation (left side). Detailed flow of Process X is shown in the right side


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CONCLUSION Cherry fruits are easy to damage.

Another end effector may be necessary.

The fruit visibility is one of the main important

factor.

Fruit hidden by the leaves may be recognized by

scanning upward.

Binding leaves are also favorable for the fruits.


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REFERENCES

Hanten, E.J.V., Hemming, J., Tuijl, B.A.J., Kornet, J.G.,

Meuleman, J., 2002. An autonomous robot for harvesting

cucumbers in greenhouses. Autonomous Robots 13, 241

258.

Gao, W., Fujiura, T., Dohi, M., Nakao, S., 1997. Selective

harvesting robot for crisp head vegetables. J. Jpn. Soc.

Agric. Mach. 59 (3), 3745.


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CONTDu

Fujiura, T., Ura, M., Kawamura, N., Namikawa, K., 1990.

Fruit harvesting robot for the orchard. J. Jpn. Soc. Agric.

Mach. 52 (2), 3542.

Harrell, R.C., Adsit, P.D., Pool, T.A., Hoffman, R., 1990.

The Florida robotic grove-lab. Trans. Am. Soc. Agric. Eng.

33, 391399.


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