AI Based Tomato Harvesting Robot

Abstract

Agriculture, one among the foremost most important industries for human being. But now a days this industry is facing some serious problems, the workers shortage, the aging population, natural disasters and global warming, etc. Tomato is an important fruit vegetable, and now some developed countries mostly cultivated tomatoes within the greenhouses/nursery, or large scale farms as the solution for effective production toward smart greenhouses, but in greenhouse many factor like the high temperature and high humidity, construction and management costs are major problems with technologies such as environmental management, factory technology. A tomato picking robot is developed for the study, including a 4-wheel-driving wheel, a 3-DOF manipulator system, a path following methodology, and a stereo camera which can measure depth in short distance. The Harr Cascade a machine learning algorithm is used for the automatic detection of tomatoes, and for movement of robot in greenhouse, line following techniques is used using arduino. A two finger gripper is used, for gripping and for plucking the tomatoes, rotational joint is used. This study covers some technical accepts and the use of the AI based harvesting robots in the greenhouse and fields.