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Performance Evaluation of a Harvesting Robot for Sweet Pepper
- Source :
- Journal of Field Robotics, 34(6), 1123-1139, Journal of Field Robotics 34 (2017) 6
- Publication Year :
- 2017
-
Abstract
- This paper evaluates a robot developed for autonomous harvesting of sweet peppers in a commercial greenhouse. Objectives were to assess robot performance under unmodified and simplified crop conditions, using two types of end effectors (Fin Ray; Lip type), and to evaluate the performance contribution of stem-dependent determination of the grasp pose. We describe and discuss the performance of hardware and software components developed for fruit harvesting in a complex environment that includes lighting variation, occlusions, and densely spaced obstacles. After simplifying the crop, harvest success significantly improved from 6% to 26% (Fin Ray) and from 2% to 33% (Lip type). We observed a decrease in stem damage and an increase in grasp success after enabling stem-dependent determination of the grasp pose. Generally, the robot had difficulty in successfully picking sweet peppers and we discuss possible causes. The robot's novel capability of perceiving the stem of a plant may serve as useful functionality for future robots.
Details
- Language :
- English
- ISSN :
- 15564959
- Database :
- OpenAIRE
- Journal :
- Journal of Field Robotics, 34(6), 1123-1139, Journal of Field Robotics 34 (2017) 6
- Accession number :
- edsair.dedup.wf.001..ceaa813ce5ab3fa56ed0b2b041f35c6b