2A1-B04 Night-time Strawberry-Harvesting RT System for Elevated Cultivation : Development of Peduncle-Nipping Manipulator and Unit-Exchanging Transportation Robot

Abstract

Recently, the environments of the greenhouses for strawberry are suitable for innovating robot system because equipments and planting system like elevated cultivation are equipped and standardized. This study reports the development and harvesting test of a strawberry-harvesting robot, which consisted of a 6 DOF manipulator, a peduncle-nipping end-effector, and a stereo vision system. At the test, 80.0[%] of strawberries, which weren't covered by other fruits could be harvested and the necessity of improving the end-effector and considering harvesting tactics has occurred. This study also contains the development of unit-exchanging transportation robot. An unit has 4 trays to stock 144 strawberries safely, and the robot can exchange these trays in 5[sec] in order that harvesting robot can operates continuously.