2017 Volume 79 Issue 5 Pages 415-425
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.
