Cherry-harvesting robot

Authors:
Kanae Tanigaki;Tateshi Fujiura;Akira Akase;Junichi Imagawa
Affiliations:
Graduate School of Life and Environmental Sciences, Osaka Prefecture University, 1-1 Gakuen-cho Sakai, Osaka, Japan;Graduate School of Life and Environmental Sciences, Osaka Prefecture University, 1-1 Gakuen-cho Sakai, Osaka, Japan;Faculty of Agriculture, Yamagata University, 1-23 Wakaba-cho Tsuruoka, Yamagata, Japan;Nara Fruit Tree Research Center, 1345 Yushio Nishiyoshino-cho Gojo, Nara, Japan
Venue:
Computers and Electronics in Agriculture
Year:
2008

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Abstract

A cherry-harvesting robot was manufactured for trial purposes and basic experiments were conducted. The main parts of the robot are a manipulator 4 degrees of freedom (DOF), a 3-D vision sensor, an end effector, a computer, and a traveling device. The 3-D vision sensor was equipped with red and infrared laser diodes. Both laser beams scan the object simultaneously. By processing the images from the 3-D vision sensor, the locations of the fruits and obstacles were recognized, and the trajectory of the end effector was determined. Fruits were picked by the end effector, while avoiding collisions with obstacles.