Design and test of robotic harvesting system for cherry tomato
作者机构：Beijing Research Center of Intelligent Equipment for AgricultureBeijing Academy of Agriculture and Forestry SciencesBeijing 100097China National Research Center of Intelligent Equipment for AgricultureBeijing 100097China Beijing Key Laboratory of Intelligent Equipment Technology for AgricultureBeijing 100097China
出 版 物：《International Journal of Agricultural and Biological Engineering》 (国际农业与生物工程学报（英文）)
年 卷 期：2018年第11卷第1期
页 面：96-100页
核心收录：
学科分类：0710[理学-生物学] 0810[工学-信息与通信工程] 08[工学] 0805[工学-材料科学与工程（可授工学、理学学位）] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 081102[工学-检测技术与自动化装置] 0812[工学-计算机科学与技术（可授工学、理学学位）]
基 金：We acknowledge that this work was financially supported by the National Natural Science Foundation of China(61703048) Beijing Excellent Talent Training to Support Young Key Individual Projects(2015000020060G134) BAAFS Youth Research Fund(QNJJ201722)
主 题：cherry tomato harvesting robot visual servo configuration design field test
摘 要：Harvesting of fresh-eating cherry tomato was highly costly on labor and *** order to achieve mechanical harvesting for the fresh-eating tomato,a new harvesting robot was designed,which consisted of a stereo visual unit,an end-effector,manipulator,a fruit collector,and a railed *** robot configuration and workflow design focused on the special cultivating *** key parts were introduced in detail:a railroad vehicle capably moving on both ground and rail was adopted as the robot’s carrier,a visual servo unit was used to identify and locate the mature fruits bunch,and the end-effector to hold and separate the fruit bunch was designed based on the stalk’s mechanical *** field test of the new developed robot was conducted and the results were *** successful harvest rate of the robot was 83%,however,each successful harvest averagely needed 1.4 times attempt,and a single successful harvesting cycle cost 8 s excluding the time cost on moving.
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