Author:
Onishi Yuki,Yoshida Takeshi,Kurita Hiroki,Fukao Takanori,Arihara Hiromu,Iwai Ayako
Abstract
Abstract
Automation and labor saving in agriculture have been required recently. However, mechanization and robots for growing fruits have not been advanced. This study proposes a method of detecting fruits and automated harvesting using a robot arm. A highly fast and accurate method with a Single Shot MultiBox Detector is used herein to detect the position of fruit, and a stereo camera is used to detect the three-dimensional position. After calculating the angles of the joints at the detected position by inverse kinematics, the robot arm is moved to the target fruit’s position. The robot then harvests the fruit by twisting the hand axis. The experimental results showed that more than 90% of the fruits were detected. Moreover, the robot could harvest a fruit in 16 s.
Publisher
Springer Science and Business Media LLC
Subject
Artificial Intelligence,Control and Optimization,Mechanical Engineering,Instrumentation,Modelling and Simulation
Cited by
117 articles.
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