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서지반출
Strawberry Harvesting Robot for Bench-type Cultivation
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  • Strawberry Harvesting Robot for Bench-type Cultivation
  • Strawberry Harvesting Robot for Bench-type Cultivation
저자명
Han. Kil-Su,Kim. Si-Chan,Lee. Young-Bum,Kim. Sang-Chul,Im. Dong-Hyuk,Choi. Hong-Ki,Hwang. Heon
간행물명
바이오시스템공학
권/호정보
2012년|37권 1호|pp.65-74 (10 pages)
발행정보
한국농업기계학회
파일정보
정기간행물|ENG|
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기타
이 논문은 한국과학기술정보연구원과 논문 연계를 통해 무료로 제공되는 원문입니다.
서지반출

기타언어초록

Purpose: An autonomous robot was developed for harvesting strawberries cultivated in bench-type systems. Methods: The harvest robot consisted of four main components: an autonomous vehicle, a manipulator with four degrees of freedom (DOF), an end effector with two DOFs, and a color computer vision system. Strawberry detection was performed based on 3D image and distance information obtained from a stereo CCD color camera and a laser device, respectively. Results: In this work, a Cartesian type manipulator system was designed, including an intermediate revolute axis and a double driven arm-based joint axis, so that it could generate collision-free motions during harvesting. A DC servomotor-driven end-effector, consisting of a gripper and a cutter, was designed for gripping and cutting the strawberry stem without damaging the strawberry itself. Real-time position tracking algorithms were developed to detect, recognize, trace, and approach strawberries under natural light conditions. Conclusion: The developed robot system could harvest a strawberry within 7 seconds without damage.