Development of an end-effector for a tomato cluster harvesting robot

Naoshi Kondo; Koki Yata; Michihisa Iida; Tomoo Shiigi; Mitsuji Monta; Mitsutaka Kurita; Hiromi Omori

doi:10.1016/S1881-8366(10)80007-2

Development of an end-effector for a tomato cluster harvesting robot

Naoshi Kondo, Koki Yata, Michihisa Iida, Tomoo Shiigi, Mitsuji Monta, Mitsutaka Kurita, Hiromi Omori

Research output: Contribution to journal › Article › peer-review

88 Citations (Scopus)

Abstract

An end-effector was developed for a tomato cluster harvesting robot. This end-effector can harvest not individual fruits but a whole fruit cluster to improve the robot's harvest efficiency. Experiments for harvesting tomato clusters were conducted in a high-density plant training system. According to a harvesting algorithm, the end-effector was able to perform well, even when target peduncle orientations were not given. Although the success rate of harvesting tomato clusters was 50 %, it is considered that this rate would improve if an end-effector is used for the high-wire tomato plant training systems in Dutch systems where the node lengths of plants are long enough to loosely hold the main stems.

Original language	English
Pages (from-to)	20-24
Number of pages	5
Journal	Engineering in Agriculture, Environment and Food
Volume	3
Issue number	1
DOIs	https://doi.org/10.1016/S1881-8366(10)80007-2
Publication status	Published - Jan 1 2010

Keywords

End-effector
Fruit cluster
Harvesting robot
Tomato

ASJC Scopus subject areas

Food Science
Chemical Engineering(all)
Industrial and Manufacturing Engineering

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1016/S1881-8366(10)80007-2

Cite this

@article{963c5f3d7ff1485081e4075d03c00b1a,

title = "Development of an end-effector for a tomato cluster harvesting robot",

abstract = "An end-effector was developed for a tomato cluster harvesting robot. This end-effector can harvest not individual fruits but a whole fruit cluster to improve the robot's harvest efficiency. Experiments for harvesting tomato clusters were conducted in a high-density plant training system. According to a harvesting algorithm, the end-effector was able to perform well, even when target peduncle orientations were not given. Although the success rate of harvesting tomato clusters was 50 %, it is considered that this rate would improve if an end-effector is used for the high-wire tomato plant training systems in Dutch systems where the node lengths of plants are long enough to loosely hold the main stems.",

keywords = "End-effector, Fruit cluster, Harvesting robot, Tomato",

author = "Naoshi Kondo and Koki Yata and Michihisa Iida and Tomoo Shiigi and Mitsuji Monta and Mitsutaka Kurita and Hiromi Omori",

year = "2010",

month = jan,

day = "1",

doi = "10.1016/S1881-8366(10)80007-2",

language = "English",

volume = "3",

pages = "20--24",

journal = "Engineering in Agriculture, Environment and Food",

issn = "1881-8366",

publisher = "Asian Agricultural and Biological Engineering Association",

number = "1",

}

TY - JOUR

T1 - Development of an end-effector for a tomato cluster harvesting robot

AU - Kondo, Naoshi

AU - Yata, Koki

AU - Iida, Michihisa

AU - Shiigi, Tomoo

AU - Monta, Mitsuji

AU - Kurita, Mitsutaka

AU - Omori, Hiromi

PY - 2010/1/1

Y1 - 2010/1/1

N2 - An end-effector was developed for a tomato cluster harvesting robot. This end-effector can harvest not individual fruits but a whole fruit cluster to improve the robot's harvest efficiency. Experiments for harvesting tomato clusters were conducted in a high-density plant training system. According to a harvesting algorithm, the end-effector was able to perform well, even when target peduncle orientations were not given. Although the success rate of harvesting tomato clusters was 50 %, it is considered that this rate would improve if an end-effector is used for the high-wire tomato plant training systems in Dutch systems where the node lengths of plants are long enough to loosely hold the main stems.

AB - An end-effector was developed for a tomato cluster harvesting robot. This end-effector can harvest not individual fruits but a whole fruit cluster to improve the robot's harvest efficiency. Experiments for harvesting tomato clusters were conducted in a high-density plant training system. According to a harvesting algorithm, the end-effector was able to perform well, even when target peduncle orientations were not given. Although the success rate of harvesting tomato clusters was 50 %, it is considered that this rate would improve if an end-effector is used for the high-wire tomato plant training systems in Dutch systems where the node lengths of plants are long enough to loosely hold the main stems.

KW - End-effector

KW - Fruit cluster

KW - Harvesting robot

KW - Tomato

UR - http://www.scopus.com/inward/record.url?scp=79954608604&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=79954608604&partnerID=8YFLogxK

U2 - 10.1016/S1881-8366(10)80007-2

DO - 10.1016/S1881-8366(10)80007-2

M3 - Article

AN - SCOPUS:79954608604

SN - 1881-8366

VL - 3

SP - 20

EP - 24

JO - Engineering in Agriculture, Environment and Food

JF - Engineering in Agriculture, Environment and Food

IS - 1

ER -

Development of an end-effector for a tomato cluster harvesting robot

Abstract

Keywords

ASJC Scopus subject areas

UN SDGs

Access to Document

Other files and links

Fingerprint

Cite this