Journal of the Japanese Society of Agricultural Machinery and Food Engineers
Online ISSN : 2189-0765
Print ISSN : 2188-224X
ISSN-L : 2188-224X
TECHNICAL PAPER
Development and Practical Application of Stationary Strawberry-Harvesting Robot Integrated with Movable Bench System
Shigehiko HAYASHISatoshi YAMAMOTOShogo TSUBOTAKen KOBAYASHIJunzo KAMATARajendra PETERKazuhiro YAMAMOTO
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2017 Volume 79 Issue 5 Pages 415-425

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Abstract

The stationary strawberry-harvesting robot was integrated with the movable bench system. As the mature fruits passed in front of the robot, the robot calculated their position, maturity level, overlapping level, and peduncle location. The end-effector approached a target fruit, and the fingers cut and grasped a peduncle simultaneously. The robot had two harvesting modes. The normal ROI mode showed successful harvesting rates of 58.6% and 62.4% for night-time and daytime operations, respectively. It unsuccessfully picked immature fruits together with target fruits. The wide ROI mode showed less successful harvesting rates of 27.1% and 29.8% for night-time and daytime operation, respectively, because of the strict constraint on the overlap. The successful shippable rates, however, were considerable high.

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© 2017 The Japanese Society of Agricultural Machinery and Food Engineers
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