TY - GEN
T1 - Application of Hybrid Visual Servo Control in Agricultural Harvesting
AU - Li, Yi Rong
AU - Lian, Wei Yuan
AU - Liu, Shao Heng
AU - Huang, Zhi Hong
AU - Chen, Chun Ta
N1 - Funding Information:
ACKNOWLEDGMENT This work was supported by the Ministry of Science and Technology of Taiwan under the Grant No. MOST 108-2221-E-003 -024 -MY3, MOST 110-2622-E-003-002 and MOST 110-2623-E-003-001.
Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - This paper aims to develop agricultural robots that can be applied to greenhouse crop harvesting by using a hybrid visual servo control method (HVSC). In the research, a depth camera was used to acquire the posture of the tomato in three-dimensional space, and visual servo control can be carried out for the tomato growing at different angles in practice. Different visual servo control methods are also discussed, including the Position-Based Visual Servo (PBVS), Image-Based Visual Servo (IBVS) and the proposed HVSC with the fuzzy dynamic control parameters. Characteristics of different visual servo control methods were discussed, and then applied to the actual harvesting. The results show that the hybrid visual servo control developed in this research has an average harvesting time of 9.40s/per and an average harvesting success rate of 96.25% for cherry tomato.
AB - This paper aims to develop agricultural robots that can be applied to greenhouse crop harvesting by using a hybrid visual servo control method (HVSC). In the research, a depth camera was used to acquire the posture of the tomato in three-dimensional space, and visual servo control can be carried out for the tomato growing at different angles in practice. Different visual servo control methods are also discussed, including the Position-Based Visual Servo (PBVS), Image-Based Visual Servo (IBVS) and the proposed HVSC with the fuzzy dynamic control parameters. Characteristics of different visual servo control methods were discussed, and then applied to the actual harvesting. The results show that the hybrid visual servo control developed in this research has an average harvesting time of 9.40s/per and an average harvesting success rate of 96.25% for cherry tomato.
KW - Agricultural robots
KW - Cherry tomato harvesting
KW - Machine vision
KW - Visual servoing
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U2 - 10.1109/ICSSE55923.2022.9947362
DO - 10.1109/ICSSE55923.2022.9947362
M3 - Conference contribution
AN - SCOPUS:85143434631
T3 - ICSSE 2022 - 2022 International Conference on System Science and Engineering
SP - 84
EP - 89
BT - ICSSE 2022 - 2022 International Conference on System Science and Engineering
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 International Conference on System Science and Engineering, ICSSE 2022
Y2 - 26 May 2022 through 29 May 2022
ER -