Harvesting of fresh-eating cherry tomato was highly costly on labor and time. In order to achieve mechanical harvesting for the tomato, a new robot designed, which consisted stereo visual unit, an end-effector, manipulator, fruit collector, railed vehicle. The configuration workflow design focused special cultivating condition. Three key parts were introduced in detail: railroad vehicle capably moving both ground rail adopted as robot’s carrier, servo unit used identify locate mature fruits...

Precise localization of occluded fruits is crucial and challenging for robotic harvesting in orchards. Occlusions from leaves, branches, other make the point cloud acquired Red Green Blue Depth (RGBD) cameras incomplete. Moreover, an insufficient filling rate noise on depth images RGBD usually happen shade occlusions, leading to distortion fragmentation cloud. These challenges bring difficulties position locating size estimation fruit harvesting. In this paper, a novel 3D method proposed...

In order to improve robotic harvesting for fresh tomato and reduce the amount of human labor, this paper designed a intelligent picking robot. The robot included: vision positioning unit, gripper, control system carrying platform. Based on working principle each component, process was revised. HIS color model image segmentation, recognition accuracy improved. sacs filled with constant pressure air were adopted as grasping component end-effector, prevent fruits from being damaged. performance...

This research presents a soft gripper for apple harvesting to provide constant-pressure clamping and avoid fruit damage during slippage, reduce the potential danger of pericarp robotic harvesting. First, three-finger based on Fin Ray structure is developed, influence varied parameters gripping discussed accordingly. Second, we develop mechanical model suggested servo-driven mappings force, pulling servo torque. Third, real-time control strategy proposed, monitor relative position...

Intermittent stop–move motion planning is essential for optimizing the efficiency of harvesting robots in greenhouse settings. Addressing issues like frequent stops, missed targets, and uneven task allocation, this study introduced a novel intermittent model using deep reinforcement learning dual-arm robot vehicle. Initially, gathered real-time coordinate data target fruits on both sides robot, projected these coordinates onto two-dimensional map. Subsequently, DDPG (Deep Deterministic...

Feng Qingchun*, Wang Xiu, Zheng Wengang, Qiu Quan, Jiang Kai (National Engineering Research Center for Information Technology in Agriculture, Beijing 100097, China) Abstract: In order to improve robotic harvesting and reduce production cost, a robot system strawberry on the elevated-trough culture was designed. It supposed serve sightseeing agriculture technological education. Based sonar-camera sensor, an autonomous navigation of built move along trough lines independently. The mature...

Aiming at the robotic pruning of tomatoes in greenhouses, a new PRRPR configuration arm consisting two prismatic (P) joints and three revolute (R) was designed to locate end effector handle randomly growing branches with an appropriate posture. In view various spatial posture branches, drawing on skill manual operation, we propose description method optimal operation effector, proposing solving inverse kinematics based multi-objective optimization algorithm. According distribution...

In order to realize the automatic picking of shiitake mushrooms and reduce risk damage in process, this paper designed a mushroom grasper. First, carries out mechanical tests compression stress relaxation on sections stipes, establishes component equations stipes. The characteristics entire stipe are then analyzed using finite element analysis, with mean square error less than 5% compared actual results. Second, based experience, proposes an “L”-shaped three-finger grasper, analyzes...

Global fruit production costs are increasing amid intensified labor shortages, driving heightened interest in robotic harvesting technologies. Although multi-arm coordination robots is considered a highly promising solution to this issue, it introduces technical challenges achieving effective coordination. These include mutual interference among mechanical structures, task allocation across multiple arms, and dynamic operating conditions. This imposes higher demands on for robots, requiring...

Dexterous manipulation and gradual placement are crucial for preserving fruit integrity during harvesting. Addressing the limitations of conventional path planning methods in learning manual compliant skills, we propose a novel method tomato bunch collection that integrates human-robot skill transfer with Deep Deterministic Policy Gradient (DDPG). In our method, demonstrator manually guided robotic arm using an existing mechanism, spatial trajectories recorded as demonstration paths. We then...

In order to improve automatic harvesting for fresh-eating tomato, a new picking end-effector was designed, which mainly consisted of three parts, such as fruit holding, stem and separating. view the convenience stemless transport package, separated tomato from plant at abscission layer between fruit. A sleeve with equispaced gasbags used flexible fruit-holding part, so fit fruit's various size keep holding force constant. Besides, separating parameters were calculated based on measuring...

In order to the efficiency security of disinfection for livestock breeding, a disinfecting robot system and intelligent mode were researched. The comprised an automatic vehicle, disinfectant spraying unit, monitoring controller supported remote operation. A crawler vehicle was adopted as carrier robot, it could move along line marked with magnet RFID label on ground. sprayer gas-liquid extraneous mixture structure developed meet need high-flow long-range spray, finally, its performance test....

In order to ensure canopy area coverage with the most compact mechanical configuration possible, this paper proposes a optimization design method of dual-manipulator meet research and development needs an apple-efficient harvesting robot using typical tree shape “high spindle” in China as object. A Cartesian coordinate two groups vertically synchronous operations three-degree range motion based on features spatial distribution fruits under dwarf close planting was designed. Two-stage...

In order to improve the operating precision of harvesting robot, a vision system for intelligently identifying and locating mature tomato was designed. The active detection method based on structured-light stereo expected deal with problem variable illumination target occlusion in glasshouse. maximum between-cluster variances hue (H) saturation (S) value were adopted as threshold color segmentation, which weakened impact image caused by light intensity variation. Through limit pixel size...