Journal of Biosystems Engineering

Korean Society for Agricultural Machinery (한국농업기계학회)
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Development of a 2-DOF Robot System for Harvesting a Lettuce

2 자유도 상추 수확 로봇 시스템 개발

  • 조성인 (서울대학교 생물자원공학부 농업기계전공) ;
  • 장성주 (서울대학교 생물자원공학부 농업기계전공) ;
  • 류관희 (서울대학교 생물자원공학부 농업기계전공) ;
  • 남기찬 (서울대학교 생물자원공학부 농업기계전공)
  • Published : 2000.02.01
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Abstract

In Korea, researches for year-round leaf vegetables production system are in progress and the most of them are focused on environment control. Automation technologies for harvesting , transporting and grading need to be developed. This study was conducted to develop harvesting process automation system profitable to a competitive price. 1. Manipulator and end-effector are to be designed and fabricated , and fuzzy logic controller for controlling these are to be composed. 2. The entire system constructed is to be evaluated through a performance test. A robot system for harvesting a lettuce was developed. It was composed of a manipulator with 20DOF (degrees of freedom) an end-effector, a lettuce feeding conveyor , an air blower , a machine vision device, 6 photoelectric sensors and a fuzzy logic controller. A fuzzy logic control was applied to determined appropriate grip force on lettuce. Leaf area index and height index were used as input parameters, and voltage was used as output parameter for the fuzzy logic controller . Success rate of the lettuce harvesting system was 93.06% , and average harvesting time was about 5 seconds per lettuce.

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References

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