協働ロボットSawyerを用いたトマト収穫ロボットの開発

抄録

Advanced technologies such as robotics, artificial intelligence, and IoT are being introduced in the agricultural sector. In particular, harvesting is labor-intensive and time-consuming, so there is a need to introduce robot technology. In this study, we describe the development of a harvesting robot for tomatoes. The tomato harvesting robot we developed uses the Sawyer collaborative robot as a manipulator. It has a hand shaped like a fruit-wrapper as a harvesting mechanism. It locates the position of the fruit by image processing using color and distance information, and harvests the tomatoes. The developed tomato harvesting robot was operated in a tomato robot competition and won the first place.