TY  - JOUR
T1  - Design of a Robotic Pneumatic Pruner for Robotic Apple Harvesting
AU  - Kahya, Erhan
AU  - Arın, Selçuk
PY  - 2019
DA  - October
JF  - European Journal of Engineering and Natural Sciences
PB  - CNR Çevre
WT  - DergiPark
SN  - 2458-8156
SP  - 11
EP  - 17
VL  - 3
IS  - 2
LA  - en
AB  - The robotic systems firstly developed inindustrial production domain. But, in countries, in which the number ofagricultural workers is limited and the costs are high, there is a tendencytowards robotic technology in agricultural production. For this reason, therobotic system implementations started to seem in many agricultural activities.In the present study, the robotic system was discussed in terms of harvestingthat is one of the agricultural activities. The robotic harvesting systemconsists of image processor, robotic arm, and gripper, which performs the finalaction. In this study, the position of fruit was determined in real-time byusing the image processing. The X- and Y-coordinates sent to robotic armdirected the movement of it. Z-axis, which is the third axis and provides theforwards movement, was controlled using distance sensor. The designed pneumaticpruner system was mounted at the tip of robotic arm. The experiments werecarried out on 100 Golden apples at different locations on the branch. Based onthe coordinates of fruit, 85% positioning accuracy and 73% success rate wereobtained in cutting the fruit from branch. The cutting success wasstatistically analyzed. At the end of study, the position of fruit stemcorresponding to the tip of pruner, the position of pruner corresponding to thebody of fruit, the fruit, or the beginning of stem rather than the stem itself,and the position of pruner on the shoot of stem were observed to cause failureduring cutting procedure. According to the results obtained from experiments,it was concluded that the system to be used in such systems is the pneumaticpruner system.
KW  - robotic
KW  - harvesting
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CR  - [2]Bulanon D.M, Kataoka T , Ota Y, Hiroma T (2004). Estimation Of Apple Fruit Location Using Machinehine Vision  System For Apple Harvesting Robot. Internatioan Commision of Agricultural and Biosysmes Engineering the CIGR Journal of Scientific Research and Development,Valume 3,1-6.
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UR  - https://dergipark.org.tr/en/pub/ejens/issue//456479
L1  - https://dergipark.org.tr/en/download/article-file/826646
ER  -