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 journalArticle

32 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 languageEnglish
Pages (from-to)20-24
Number of pages5
JournalEngineering in Agriculture, Environment and Food
Volume3
Issue number1
Publication statusPublished - 2010

Fingerprint

robots
Lycopersicon esculentum
End effectors
tomatoes
Robots
training (plants)
Fruits
Fruit
fruits
peduncle
wire
plant density
Wire
stems
Experiments

Keywords

  • End-effector
  • Fruit cluster
  • Harvesting robot
  • Tomato

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Food Science
  • Chemical Engineering(all)

Cite this

Kondo, N., Yata, K., Iida, M., Shiigi, T., Monta, M., Kurita, M., & Omori, H. (2010). Development of an end-effector for a tomato cluster harvesting robot. Engineering in Agriculture, Environment and Food, 3(1), 20-24.

Development of an end-effector for a tomato cluster harvesting robot. / Kondo, Naoshi; Yata, Koki; Iida, Michihisa; Shiigi, Tomoo; Monta, Mitsuji; Kurita, Mitsutaka; Omori, Hiromi.

In: Engineering in Agriculture, Environment and Food, Vol. 3, No. 1, 2010, p. 20-24.

Research output: Contribution to journalArticle

Kondo, N, Yata, K, Iida, M, Shiigi, T, Monta, M, Kurita, M & Omori, H 2010, 'Development of an end-effector for a tomato cluster harvesting robot', Engineering in Agriculture, Environment and Food, vol. 3, no. 1, pp. 20-24.
Kondo, Naoshi ; Yata, Koki ; Iida, Michihisa ; Shiigi, Tomoo ; Monta, Mitsuji ; Kurita, Mitsutaka ; Omori, Hiromi. / Development of an end-effector for a tomato cluster harvesting robot. In: Engineering in Agriculture, Environment and Food. 2010 ; Vol. 3, No. 1. pp. 20-24.
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