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Collaborative Harvest Robot

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ROBOT2022: Fifth Iberian Robotics Conference (ROBOT 2022)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 590))

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Abstract

Agriculture is a field of activity characterized by physical labor, which is why many efforts are being made to introduce robotics on farms. In the specific case of vineyards, and harvesting, the difficulty lies in approximating the harvesting times of the grape harvester without damaging the product and consequently offering a cost-effective solution. This paper presents an operator tracking strategy for a prototype mobile, collaborative robotic platform to address the harvesting task with a human-robot collaboration that combines the manual dexterity of the harvester with the carrying capacity of a robot. The system designed and developed is applicable in the field of manual fruit picking. A commercial mobile robot platform has been used and a structure adapted to the transport and weighing of the contents of the box has been built. In addition, an RGB-D camera and UWB sensors have been integrated. A system for tracking a specific operator while maintaining a safety distance has been integrated into the robot. The system runs on ROS. The results show that the robot correctly performs the operation of tracking the grape harvester and is robust in the event of major changes in lighting.

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Acknowledgements

This work was carried out within the framework of the FlexiGroBots project funded by the European Union under the H2020 Programme with Grant Agreement Id. 101017111.

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Authors and Affiliations

  1. Centre for Automation and Robotics (CAR), CSIC-UPM, Arganda del Rey, 28500, Madrid, Spain

    Maria Nuria Conejero, Hector Montes, Dionisio Andujar, Jose Maria Bengochea-Guevara & Angela Ribeiro

  2. Centro de Investigación e Innovación Eléctrica, Mecánica y de la Industria (CINEMI), Universidad Tecnológica de Panamá, Panama City, Panama

    Hector Montes

Authors
  1. Maria Nuria Conejero
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  2. Hector Montes
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  3. Dionisio Andujar
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  4. Jose Maria Bengochea-Guevara
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  5. Angela Ribeiro
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Corresponding author

Correspondence to Angela Ribeiro .

Editor information

Editors and Affiliations

  1. Centro Universitario de la Defensa (CUD), Zaragoza, Spain

    Danilo Tardioli

  2. Grupo de Robótica, Universidad de León, León, Spain

    Vicente Matellán

  3. GRVC Robotics Lab, Escuela Técnica Superior de Ingeniería, Universidad de Sevilla, Sevilla, Spain

    Guillermo Heredia

  4. School of Engineering, Polytechnic Institute of Porto, Porto, Portugal

    Manuel F. Silva

  5. Institute of Systems and Robotics, University of Coimbra, Coimbra, Portugal

    Lino Marques

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Conejero, M.N., Montes, H., Andujar, D., Bengochea-Guevara, J.M., Ribeiro, A. (2023). Collaborative Harvest Robot. In: Tardioli, D., Matellán, V., Heredia, G., Silva, M.F., Marques, L. (eds) ROBOT2022: Fifth Iberian Robotics Conference. ROBOT 2022. Lecture Notes in Networks and Systems, vol 590. Springer, Cham. https://doi.org/10.1007/978-3-031-21062-4_34

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  • DOI: https://doi.org/10.1007/978-3-031-21062-4_34

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-21061-7

  • Online ISBN: 978-3-031-21062-4

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