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

Author

Listed:
  • 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)

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.

Suggested Citation

  • Chung-Liang Chang & Cheng-Chieh Huang, 2024. "Design and Implementation of an AI-Based Robotic Arm for Strawberry Harvesting," Agriculture, MDPI, vol. 14(11), pages 1-21, November.
    • Handle: RePEc:gam:jagris:v:14:y:2024:i:11:p:2057-:d:1521394
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    References listed on IDEAS

    as
    1. Chung-Liang Chang & Hung-Wen Chen & Jing-Yun Ke, 2023. "Robust Guidance and Selective Spraying Based on Deep Learning for an Advanced Four-Wheeled Farming Robot," Agriculture, MDPI, vol. 14(1), pages 1-28, December.
    2. Chongyang Han & Jinhong Lv & Chengju Dong & Jiehao Li & Yuanqiang Luo & Weibin Wu & Mohamed Anwer Abdeen, 2024. "Classification, Advanced Technologies, and Typical Applications of End-Effector for Fruit and Vegetable Picking Robots," Agriculture, MDPI, vol. 14(8), pages 1-37, August.
    3. Chung-Liang Chang & Bo-Xuan Xie & Sheng-Cheng Chung, 2021. "Mechanical Control with a Deep Learning Method for Precise Weeding on a Farm," Agriculture, MDPI, vol. 11(11), pages 1-21, October.
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