Design and Implementation of an AI-Based Robotic Arm for Strawberry Harvesting

Chung-Liang Chang () and Cheng-Chieh Huang
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Chung-Liang Chang: Department of Biomechatronics Engineering, National Pingtung University of Science and Technology, Neipu, Pingtung 91201, Taiwan
Cheng-Chieh Huang: Department of Biomechatronics Engineering, National Pingtung University of Science and Technology, Neipu, Pingtung 91201, Taiwan

Agriculture, 2024, vol. 14, issue 11, 1-21

Abstract: This study presents the design and implementation of a wire-driven, multi-joint robotic arm equipped with a cutting and gripping mechanism for harvesting delicate strawberries, with the goal of reducing labor and costs. The arm is mounted on a lifting mechanism and linked to a laterally movable module, which is affixed to the tube cultivation shelf. The trained deep learning model can instantly detect strawberries, identify optimal picking points, and estimate the contour area of fruit while the mobile platform is in motion. A two-stage fuzzy logic control (2s-FLC) method is employed to adjust the length of the arm and bending angle, enabling the end of the arm to approach the fruit picking position. The experimental results indicate a 90% accuracy in fruit detection, an 82% success rate in harvesting, and an average picking time of 6.5 s per strawberry, reduced to 5 s without arm recovery time. The performance of the proposed system in harvesting strawberries of different sizes under varying lighting conditions is also statistically analyzed and evaluated in this paper.

Keywords: fruit picking robot; deep learning; visual servoing; fuzzy logic control; hydroponic greenhouse (search for similar items in EconPapers)
JEL-codes: Q1 Q10 Q11 Q12 Q13 Q14 Q15 Q16 Q17 Q18 (search for similar items in EconPapers)
Date: 2024
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