Study on an Inside-approach Harvesting Robot for Picking Strawberries

Abstract

This study investigated the potential for autonomous harvesting of strawberries cultivated in a hanging-type elevated substrate.
Investigation of degree of overlap between inside and outside revealed that approximately 90% of mature fruits are located at the front and can be detected by an inside inspection. Harvesting tests were conducted using an inside-approach harvesting robot that can travel beneath a hanging bench and pick fruits on both sides using a single manipulator. The success rates for detecting and for picking were 68.7% and 50.6% for var. Benihoppe, and 75.0% and 63.0% for var. Amaotome. Our investigation of degree of overlap and harvesting tests demonstrated that the improved visibility of mature fruits from inside led to significantly enhanced picking performance.