Implementation of Facility Greenhouse Oriental Melon Harvesting Robot Manipulation Technology through Visual Servoing 


Vol. 47,  No. 11, pp. 1998-2006, Nov.  2022
10.7840/kics.2022.47.11.1998


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  Abstract

Recently, due to the reduction in agricultural workers as a proportion of the population, it is an increasing need for automation conversion in agricultural fields. In this study, we studied the manipulation technologies of harvesting robots using visual servoing for oriental melons grown in a hydroponic greenhouse. The harvesting robot consist of a 6-axis manipulator, controller, and RGB-D camera. It recognizes the location of the crops using the camera installed on a platform, and then manipulator moves and harvests the oriental melons using visual servoing technology. For controlling the manipulator using visual servoing technology, we conducted the forward kinematics & inverse kinematics analysis, and the investigation of work space for manipulator. We performed the test of the proposed harvesting robot system, and as a result, it is considered that the robot system can be applied to the harvesting work of oriental melons in a hydroponic greenhouse.

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[IEEE Style]

M. Kim, Y. Kim, W. Kim, K. Lee, B. Cho, Y. Hong, K. Kim, "Implementation of Facility Greenhouse Oriental Melon Harvesting Robot Manipulation Technology through Visual Servoing," The Journal of Korean Institute of Communications and Information Sciences, vol. 47, no. 11, pp. 1998-2006, 2022. DOI: 10.7840/kics.2022.47.11.1998.

[ACM Style]

Man-Jung Kim, Yong-Hyun Kim, Won-Kyung Kim, Ki-Beom Lee, Byeong-Hyo Cho, Youngki Hong, and Kyoung-Chul Kim. 2022. Implementation of Facility Greenhouse Oriental Melon Harvesting Robot Manipulation Technology through Visual Servoing. The Journal of Korean Institute of Communications and Information Sciences, 47, 11, (2022), 1998-2006. DOI: 10.7840/kics.2022.47.11.1998.

[KICS Style]

Man-Jung Kim, Yong-Hyun Kim, Won-Kyung Kim, Ki-Beom Lee, Byeong-Hyo Cho, Youngki Hong, Kyoung-Chul Kim, "Implementation of Facility Greenhouse Oriental Melon Harvesting Robot Manipulation Technology through Visual Servoing," The Journal of Korean Institute of Communications and Information Sciences, vol. 47, no. 11, pp. 1998-2006, 11. 2022. (https://doi.org/10.7840/kics.2022.47.11.1998)

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pISSN : 1226 - 4717
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