Development of an automatic fruit picking robot based on object detection algorithm
Robots are increasingly involved in human production, which leads to a qualitative leap in production efficiency. In the agricultural field, especially in the process of harvest, it needs a lot of human resources to perform various tasks, such as picking fruits, which may be labor intensive. An effe...
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| Format: | Thesis-Master by Coursework |
| Language: | English |
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Nanyang Technological University
2020
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| Online Access: | https://hdl.handle.net/10356/142532 |
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| Institution: | Nanyang Technological University |
| Language: | English |
| Summary: | Robots are increasingly involved in human production, which leads to a qualitative leap in production efficiency. In the agricultural field, especially in the process of harvest, it needs a lot of human resources to perform various tasks, such as picking fruits, which may be labor intensive. An effective robotics picking system can solve this problem to a large extent. This dissertation aims to develop a robot system for automatic picking based on a real-time CNN (Convolutional Neural Network) algorithm, that is, YOLO (You Only Look Once). In this project version 3 of YOLO is used based on Keras to detect ripe fruits(kumquat) and RGB-D camera is used to obtain the physical coordinates of the fruits. After locating the objects, an industrial manipulator UR5e robot is programmed to pluck the fruits automatically. |
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