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Agriculture
Volume 14
Issue 12
10.3390/agriculture14122126
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This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Article

Design, Development, Integration, and Field Evaluation of a Ridge-Planting Strawberry Harvesting Robot

by
Yang Yu
1,2,3,
Hehe Xie
1,
Kailiang Zhang
1,*,
Yujie Wang
4,
Yutong Li
2,
Jianmei Zhou
2 and
Lizhang Xu
2,3
1
College of Engineering, China Agricultural University, Beijing 100083, China
2
College of Agricultural Engineering, Jiangsu University, Zhenjiang 212013, China
3
Key Laboratory of Modern Agricultural Equipment and Technology, Ministry of Education, Jiangsu University, Zhenjiang 212013, China
4
School of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, China
*
Author to whom correspondence should be addressed.
Agriculture 2024, 14(12), 2126; https://doi.org/10.3390/agriculture14122126 (registering DOI)
Submission received: 31 October 2024 / Revised: 20 November 2024 / Accepted: 21 November 2024 / Published: 23 November 2024
(This article belongs to the Section Agricultural Technology)
Versions Notes

Abstract

Due to the complex unstructured environmental factors in ridge-planting strawberry cultivation, automated harvesting remains a significant challenge. This paper presents an oriented-ridge double-arm cooperative harvesting robot designed for this cultivation. The robot is equipped with a novel non-destructive harvesting end-effector and two self-developed specialized manipulators, integrated with the strawberry picking point visual perception system based on the lightweight Mask R-CNN and a CAN bus-based machine control system. The greenhouse harvesting experiments show that the robot achieved an average harvesting success rate of 49.30% in natural environments after flower and fruit thinning, while only a 30.23% success rate was achieved in untrimmed natural environments. This indicates that the agronomic practice of flower and fruit thinning can significantly simplify the automated harvesting environment and improve harvesting performance. Automated harvesting efficiency test results show that the single-arm average harvesting speed is 7 s per fruit, while double-arm cooperative harvesting can achieve 4 s per fruit. Future expansion by increasing the number of robotic arms could significantly improve harvesting efficiency. However, the study conducted for this paper was poor for those strawberries whose body or stem was severely blocked, which should be further improved upon in follow-up studies.
Keywords: harvesting robot; visual perception; picking point; non-structural environment; field evaluation harvesting robot; visual perception; picking point; non-structural environment; field evaluation

Share and Cite

MDPI and ACS Style

Yu, Y.; Xie, H.; Zhang, K.; Wang, Y.; Li, Y.; Zhou, J.; Xu, L. Design, Development, Integration, and Field Evaluation of a Ridge-Planting Strawberry Harvesting Robot. Agriculture 2024, 14, 2126. https://doi.org/10.3390/agriculture14122126

AMA Style

Yu Y, Xie H, Zhang K, Wang Y, Li Y, Zhou J, Xu L. Design, Development, Integration, and Field Evaluation of a Ridge-Planting Strawberry Harvesting Robot. Agriculture. 2024; 14(12):2126. https://doi.org/10.3390/agriculture14122126

Chicago/Turabian Style

Yu, Yang, Hehe Xie, Kailiang Zhang, Yujie Wang, Yutong Li, Jianmei Zhou, and Lizhang Xu. 2024. "Design, Development, Integration, and Field Evaluation of a Ridge-Planting Strawberry Harvesting Robot" Agriculture 14, no. 12: 2126. https://doi.org/10.3390/agriculture14122126

APA Style

Yu, Y., Xie, H., Zhang, K., Wang, Y., Li, Y., Zhou, J., & Xu, L. (2024). Design, Development, Integration, and Field Evaluation of a Ridge-Planting Strawberry Harvesting Robot. Agriculture, 14(12), 2126. https://doi.org/10.3390/agriculture14122126

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