In order to improve robotic harvesting and reduce production cost, a harvesting robot system for strawberry on the\r\nelevated-trough culture was designed. It was supposed to serve for sightseeing agriculture and technological education. Based\r\non the sonar-camera sensor, an autonomous navigation system of the harvesting robot was built to move along the trough lines\r\nindependently. The mature fruits were recognized according to the H (Hue) and S (Saturation) color feature and the picking-point\r\nwere located by the binocular-vision unit. A nondestructive end-effector, used to suck the fruit, hold and cut the fruit-stem, was\r\ndesigned to prevent pericarp damage and disease infection. A joint-type industrial manipulator with six degrees-of-freedom (DOF)\r\nwas utilized to carry the end-effector. The key points and time steps for the collision-free and rapid motion of manipulator\r\nwere planned. Experimental results showed that all the 100 mature strawberry targets were recognized automatically in the\r\nharvesting test. The success harvesting rate was 86%, and the success harvesting operation cost 31.3 seconds on average,\r\nincluding a single harvest operation of 10 seconds. The average error for fruit location was less than 4.6 mm.
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