Design of End-effector for Tomato Robotic Harvesting

被引：37

作者：

Wang, Guohua ^{[1
]}

Yu, Yabo ^{[1
]}

Feng, Qingchun ^{[1
]}

机构：

[1] Beijing Res Ctr Intelligent Equipment Agr, Natl Res Ctr Intelligent Equipment Agr, Beijing Key Lab Intelligent Equipment Technol Agr, Key Lab Agriinformat,Minist Agr, Beijing 100097, Peoples R China

来源：

IFAC PAPERSONLINE | 2016年 / 49卷 / 16期

基金：

国家高技术研究发展计划(863计划);

关键词：

tomato; picking end-effector; flexible operation; automatic harvesting; agricultural robot;

D O I：

10.1016/j.ifacol.2016.10.035

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In order to improve automatic harvesting for fresh-eating tomato, a new picking end-effector was designed, which mainly consisted of three parts, such as fruit holding, stem holding, and fruit separating. In view of the convenience of stemless fruit for transport and package, the end-effector separated the tomato fruit from the plant at the abscission layer between the stem and fruit. A sleeve with three equispaced gasbags was used as the flexible fruit-holding part, so as to fit the fruits various size and keep the holding force constant. Besides, the holding and separating force parameters were calculated based on the measuring result of the fruit material characteristics, so that the holding operation is reliable and nondestructive. Finally, the end-effectors performance was tested, and the result showed the successful picking rate was 86%. (C) 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：190 / 193

页数：4

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