An automated fruit harvesting robot by using deep learning

Abstract Automation and labor saving in agriculture have been required recently. However, mechanization and robots for growing fruits have not been advanced. This study proposes a method of detecting fruits and automated harvesting using a robot arm. A highly fast and accurate method with a Single S...
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Autor*in:	Onishi, Yuki [verfasserIn] Yoshida, Takeshi Kurita, Hiroki Fukao, Takanori Arihara, Hiromu Iwai, Ayako

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2019

Schlagwörter:	Harvesting fruits Robot Manipulation Deep learning

Anmerkung:	© The Author(s) 2019

Übergeordnetes Werk:	Enthalten in: ROBOMECH Journal - Berlin : SpringerOpen, 2014, 6(2019), 1 vom: 01. Nov.
Übergeordnetes Werk:	volume:6 ; year:2019 ; number:1 ; day:01 ; month:11

Links:	Volltext

DOI / URN:	10.1186/s40648-019-0141-2

Katalog-ID:	SPR037114301

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allfields	10.1186/s40648-019-0141-2 doi (DE-627)SPR037114301 (SPR)s40648-019-0141-2-e DE-627 ger DE-627 rakwb eng Onishi, Yuki verfasserin aut An automated fruit harvesting robot by using deep learning 2019 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s) 2019 Abstract Automation and labor saving in agriculture have been required recently. However, mechanization and robots for growing fruits have not been advanced. This study proposes a method of detecting fruits and automated harvesting using a robot arm. A highly fast and accurate method with a Single Shot MultiBox Detector is used herein to detect the position of fruit, and a stereo camera is used to detect the three-dimensional position. After calculating the angles of the joints at the detected position by inverse kinematics, the robot arm is moved to the target fruit’s position. The robot then harvests the fruit by twisting the hand axis. The experimental results showed that more than 90% of the fruits were detected. Moreover, the robot could harvest a fruit in 16 s. Harvesting fruits (dpeaa)DE-He213 Robot (dpeaa)DE-He213 Manipulation (dpeaa)DE-He213 Deep learning (dpeaa)DE-He213 Yoshida, Takeshi aut Kurita, Hiroki aut Fukao, Takanori aut Arihara, Hiromu aut Iwai, Ayako aut Enthalten in ROBOMECH Journal Berlin : SpringerOpen, 2014 6(2019), 1 vom: 01. Nov. (DE-627)797381384 (DE-600)2785447-4 2197-4225 nnns volume:6 year:2019 number:1 day:01 month:11 https://dx.doi.org/10.1186/s40648-019-0141-2 kostenfrei Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 6 2019 1 01 11
spelling	10.1186/s40648-019-0141-2 doi (DE-627)SPR037114301 (SPR)s40648-019-0141-2-e DE-627 ger DE-627 rakwb eng Onishi, Yuki verfasserin aut An automated fruit harvesting robot by using deep learning 2019 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s) 2019 Abstract Automation and labor saving in agriculture have been required recently. However, mechanization and robots for growing fruits have not been advanced. This study proposes a method of detecting fruits and automated harvesting using a robot arm. A highly fast and accurate method with a Single Shot MultiBox Detector is used herein to detect the position of fruit, and a stereo camera is used to detect the three-dimensional position. After calculating the angles of the joints at the detected position by inverse kinematics, the robot arm is moved to the target fruit’s position. The robot then harvests the fruit by twisting the hand axis. The experimental results showed that more than 90% of the fruits were detected. Moreover, the robot could harvest a fruit in 16 s. Harvesting fruits (dpeaa)DE-He213 Robot (dpeaa)DE-He213 Manipulation (dpeaa)DE-He213 Deep learning (dpeaa)DE-He213 Yoshida, Takeshi aut Kurita, Hiroki aut Fukao, Takanori aut Arihara, Hiromu aut Iwai, Ayako aut Enthalten in ROBOMECH Journal Berlin : SpringerOpen, 2014 6(2019), 1 vom: 01. Nov. (DE-627)797381384 (DE-600)2785447-4 2197-4225 nnns volume:6 year:2019 number:1 day:01 month:11 https://dx.doi.org/10.1186/s40648-019-0141-2 kostenfrei Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 6 2019 1 01 11
allfields_unstemmed	10.1186/s40648-019-0141-2 doi (DE-627)SPR037114301 (SPR)s40648-019-0141-2-e DE-627 ger DE-627 rakwb eng Onishi, Yuki verfasserin aut An automated fruit harvesting robot by using deep learning 2019 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s) 2019 Abstract Automation and labor saving in agriculture have been required recently. However, mechanization and robots for growing fruits have not been advanced. This study proposes a method of detecting fruits and automated harvesting using a robot arm. A highly fast and accurate method with a Single Shot MultiBox Detector is used herein to detect the position of fruit, and a stereo camera is used to detect the three-dimensional position. After calculating the angles of the joints at the detected position by inverse kinematics, the robot arm is moved to the target fruit’s position. The robot then harvests the fruit by twisting the hand axis. The experimental results showed that more than 90% of the fruits were detected. Moreover, the robot could harvest a fruit in 16 s. Harvesting fruits (dpeaa)DE-He213 Robot (dpeaa)DE-He213 Manipulation (dpeaa)DE-He213 Deep learning (dpeaa)DE-He213 Yoshida, Takeshi aut Kurita, Hiroki aut Fukao, Takanori aut Arihara, Hiromu aut Iwai, Ayako aut Enthalten in ROBOMECH Journal Berlin : SpringerOpen, 2014 6(2019), 1 vom: 01. Nov. (DE-627)797381384 (DE-600)2785447-4 2197-4225 nnns volume:6 year:2019 number:1 day:01 month:11 https://dx.doi.org/10.1186/s40648-019-0141-2 kostenfrei Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 6 2019 1 01 11
allfieldsGer	10.1186/s40648-019-0141-2 doi (DE-627)SPR037114301 (SPR)s40648-019-0141-2-e DE-627 ger DE-627 rakwb eng Onishi, Yuki verfasserin aut An automated fruit harvesting robot by using deep learning 2019 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s) 2019 Abstract Automation and labor saving in agriculture have been required recently. However, mechanization and robots for growing fruits have not been advanced. This study proposes a method of detecting fruits and automated harvesting using a robot arm. A highly fast and accurate method with a Single Shot MultiBox Detector is used herein to detect the position of fruit, and a stereo camera is used to detect the three-dimensional position. After calculating the angles of the joints at the detected position by inverse kinematics, the robot arm is moved to the target fruit’s position. The robot then harvests the fruit by twisting the hand axis. The experimental results showed that more than 90% of the fruits were detected. Moreover, the robot could harvest a fruit in 16 s. Harvesting fruits (dpeaa)DE-He213 Robot (dpeaa)DE-He213 Manipulation (dpeaa)DE-He213 Deep learning (dpeaa)DE-He213 Yoshida, Takeshi aut Kurita, Hiroki aut Fukao, Takanori aut Arihara, Hiromu aut Iwai, Ayako aut Enthalten in ROBOMECH Journal Berlin : SpringerOpen, 2014 6(2019), 1 vom: 01. Nov. (DE-627)797381384 (DE-600)2785447-4 2197-4225 nnns volume:6 year:2019 number:1 day:01 month:11 https://dx.doi.org/10.1186/s40648-019-0141-2 kostenfrei Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 6 2019 1 01 11
allfieldsSound	10.1186/s40648-019-0141-2 doi (DE-627)SPR037114301 (SPR)s40648-019-0141-2-e DE-627 ger DE-627 rakwb eng Onishi, Yuki verfasserin aut An automated fruit harvesting robot by using deep learning 2019 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s) 2019 Abstract Automation and labor saving in agriculture have been required recently. However, mechanization and robots for growing fruits have not been advanced. This study proposes a method of detecting fruits and automated harvesting using a robot arm. A highly fast and accurate method with a Single Shot MultiBox Detector is used herein to detect the position of fruit, and a stereo camera is used to detect the three-dimensional position. After calculating the angles of the joints at the detected position by inverse kinematics, the robot arm is moved to the target fruit’s position. The robot then harvests the fruit by twisting the hand axis. The experimental results showed that more than 90% of the fruits were detected. Moreover, the robot could harvest a fruit in 16 s. Harvesting fruits (dpeaa)DE-He213 Robot (dpeaa)DE-He213 Manipulation (dpeaa)DE-He213 Deep learning (dpeaa)DE-He213 Yoshida, Takeshi aut Kurita, Hiroki aut Fukao, Takanori aut Arihara, Hiromu aut Iwai, Ayako aut Enthalten in ROBOMECH Journal Berlin : SpringerOpen, 2014 6(2019), 1 vom: 01. Nov. (DE-627)797381384 (DE-600)2785447-4 2197-4225 nnns volume:6 year:2019 number:1 day:01 month:11 https://dx.doi.org/10.1186/s40648-019-0141-2 kostenfrei Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 6 2019 1 01 11
language	English
source	Enthalten in ROBOMECH Journal 6(2019), 1 vom: 01. Nov. volume:6 year:2019 number:1 day:01 month:11
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topic_facet	Harvesting fruits Robot Manipulation Deep learning
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authorswithroles_txt_mv	Onishi, Yuki @@aut@@ Yoshida, Takeshi @@aut@@ Kurita, Hiroki @@aut@@ Fukao, Takanori @@aut@@ Arihara, Hiromu @@aut@@ Iwai, Ayako @@aut@@
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author	Onishi, Yuki
spellingShingle	Onishi, Yuki misc Harvesting fruits misc Robot misc Manipulation misc Deep learning An automated fruit harvesting robot by using deep learning
authorStr	Onishi, Yuki
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topic_title	An automated fruit harvesting robot by using deep learning Harvesting fruits (dpeaa)DE-He213 Robot (dpeaa)DE-He213 Manipulation (dpeaa)DE-He213 Deep learning (dpeaa)DE-He213
topic	misc Harvesting fruits misc Robot misc Manipulation misc Deep learning
topic_unstemmed	misc Harvesting fruits misc Robot misc Manipulation misc Deep learning
topic_browse	misc Harvesting fruits misc Robot misc Manipulation misc Deep learning
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title	An automated fruit harvesting robot by using deep learning
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title_full	An automated fruit harvesting robot by using deep learning
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author_browse	Onishi, Yuki Yoshida, Takeshi Kurita, Hiroki Fukao, Takanori Arihara, Hiromu Iwai, Ayako
container_volume	6
format_se	Elektronische Aufsätze
author-letter	Onishi, Yuki
doi_str_mv	10.1186/s40648-019-0141-2
title_sort	automated fruit harvesting robot by using deep learning
title_auth	An automated fruit harvesting robot by using deep learning
abstract	Abstract Automation and labor saving in agriculture have been required recently. However, mechanization and robots for growing fruits have not been advanced. This study proposes a method of detecting fruits and automated harvesting using a robot arm. A highly fast and accurate method with a Single Shot MultiBox Detector is used herein to detect the position of fruit, and a stereo camera is used to detect the three-dimensional position. After calculating the angles of the joints at the detected position by inverse kinematics, the robot arm is moved to the target fruit’s position. The robot then harvests the fruit by twisting the hand axis. The experimental results showed that more than 90% of the fruits were detected. Moreover, the robot could harvest a fruit in 16 s. © The Author(s) 2019
abstractGer	Abstract Automation and labor saving in agriculture have been required recently. However, mechanization and robots for growing fruits have not been advanced. This study proposes a method of detecting fruits and automated harvesting using a robot arm. A highly fast and accurate method with a Single Shot MultiBox Detector is used herein to detect the position of fruit, and a stereo camera is used to detect the three-dimensional position. After calculating the angles of the joints at the detected position by inverse kinematics, the robot arm is moved to the target fruit’s position. The robot then harvests the fruit by twisting the hand axis. The experimental results showed that more than 90% of the fruits were detected. Moreover, the robot could harvest a fruit in 16 s. © The Author(s) 2019
abstract_unstemmed	Abstract Automation and labor saving in agriculture have been required recently. However, mechanization and robots for growing fruits have not been advanced. This study proposes a method of detecting fruits and automated harvesting using a robot arm. A highly fast and accurate method with a Single Shot MultiBox Detector is used herein to detect the position of fruit, and a stereo camera is used to detect the three-dimensional position. After calculating the angles of the joints at the detected position by inverse kinematics, the robot arm is moved to the target fruit’s position. The robot then harvests the fruit by twisting the hand axis. The experimental results showed that more than 90% of the fruits were detected. Moreover, the robot could harvest a fruit in 16 s. © The Author(s) 2019
collection_details	GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700
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title_short	An automated fruit harvesting robot by using deep learning
url	https://dx.doi.org/10.1186/s40648-019-0141-2
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author2	Yoshida, Takeshi Kurita, Hiroki Fukao, Takanori Arihara, Hiromu Iwai, Ayako
author2Str	Yoshida, Takeshi Kurita, Hiroki Fukao, Takanori Arihara, Hiromu Iwai, Ayako
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doi_str	10.1186/s40648-019-0141-2
up_date	2024-07-03T21:12:30.980Z
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