AUFPR

1. AUFPR The 7th Generation Robot Under The guidance of, Ms.Sonali Faldessai, Mr.Chetan Savant, Prof M. Sumalata. IIIrd sem B.E, HOD of E&C Girijabaisail Institute of Technology, Utkagali Karwar

2. Contents • Introduction • Abstract • Construction • Approach for underground fruit picking cycle • Fruit picking operation • Conclusion • Acknowledgement

3. Introduction • The use of robots is no longer strictly limited to industrial environments. Also for outdoor activities, robotic systems are increasingly combined with new Technologies to automate labor intensive work, such as e.g. apple harvesting. • This paper describes the feasibility study for the development of an Autonomous Underground Fruit Picking Robot (AFUPR). • It was developed in 1990’s that the robot can be programmed in such a manner that, it will make use of hydraulics and pick the fruit from the tree. • Our idea behind this paper is to pick underground fruit with less effort. Our robot will make use of Far Infra R rays to detect the underground fruit like potato, Ginger, Onion, Reddish, sweet potato etc. Our effort would be to make thisd robot more economical and suitable for the developing country like India.

4. Abstract • This paper describes the construction and functionality of an Autonomous Underground Fruit Picking Robot (AUFPR). • The key element for the success of the AUFPR is the integrated approach which combines the detection of the underground fruit and also picks it from the ground without harming the other fruits. • The gripper consists of a silicone funnel with a camera and Far Infra red rays mounted inside. Far Infra red rays basically detect the change of temperature and can sense the fruit. So, this paper is discussing it in brief.

5. Construction • The AUFPR is built on a platform mounted behind an agriculture tractor. In order to reduce the development period of the AUFPR, although overkill, an industrial robot (Panasonic VR006L) is chosen as manipulator. • The AUFPR further consists of a tractor-driven generator for power supply, a (2D) horizontal stabilization unit, a external vertical axis to enlarge the operation range, a safety scanning device, a central control unit, a touch panel PC with Human Machine Interface and finally, a fruit gripper.  • Designed especially for this task, with a camera mounted in the centre of the gripper with FAR IR rays. The flexible gripper guarantees a firm grip without damaging the fruit and serves in fact as the mouth of a vacuum cleaner.

7. Fruit picking operation consists of • The position of the fruit for example potato in the image, possibly after declustering, is determined. Only ripe fruit with qualified size are selected. • The camera rotates around x- and y-axes, by µx and µy respectively, in order to point the optical axis straight to the fruit. Positioning the camera by only rotating the wrist results in a small change and therefore fast robot movement. • This Defines the used set-up. The rotation angles yield: µx = ¡ arctan(yp¹p=f) …………………… (1) for the rotation around the x-axis and µy = arctan(xp¹p=f) …………………….. (2) for the (simultaneous) rotation around the y-axis, with f the focal length [mm], ¹p the pixel-size [mm/pix] and xp; yp the measured centre of the fruit in the image plane [pix].

8. As equations 1 and 2 show, the rotation angles do not depend on the distance only the focal length, f needs to be calibrated. Even if the focal length is not exactly known. The centre of the gripper with respect to the centre of the fruit will lie within the margin of the gripper. • e.g. a (rather large) error of 10% on the focal length causes an error of 1:5^ on µx (or µy) resulting in an offset of 1.9 cm for an fruit at 1 m distance. Due to the funnel-like design of our gripper, this offset will not cause a faulty picking cycle.

10. Approach for Underground fruit picking cycle The autonomous harvesting operation is hierarchically structured in three levels. • Once the AUFPR is stationed on the ground or the field, with active stabilization, it scans the ground and detects the fruit due to the difference in temperature. • For each sector, all ripe fruits are listed on the screen. • And all the ripped fruits are picked one by one in a looped task.

11. ADVANTAGES • Reduces human labour. • Time Saving • No wastage of fruits

12. CONCLUSION • All the necessary components are fitted together and operated as planned, hereby proving the feasibility and functionality of the AUFPR. There is however, still margin for improvement. • The bottleneck in communication lies with the connection/communication between the vision-PC and the central control unit. • Future work will focus on improving the bandwidth of this connection and on optimizing the image processing. • The aim is to reduce the picking cycle period. In that case, the productivity of the AUFPR will be close to the work load of about 6 workers, which makes the machine economically available.

13. REFERENCES • Appeltants W and Ilsbroux W (1995) Automatische sturing van een plukwagen(Autonomous guidance for a harvester). MA Thesis, Katholieke HogeschoolLimburg, Belgium • Bulanon DM, Kataoka T, Okamoto H, Hata S (2005) Feedback control of manipulator using machine vision for robotic apple harvesting. In Proceedings of ASAE, Paper No. 053114, Tampa, USA • Bulanon DM, Kataoka T, Ukamoto H, Hata S (2004) Development of a realtime machine vision system for the apple harvesting robot. In SICE AnnualConference in Sapporo, pages 595{598, Hokkaido Inst. of Techn., Japan • Hutchinson S, Hager G, Corke P (1996) A tutorial on visual servo control. IEEETrans. on Robotics and Automation, 12(5):651{670 • Jimenez A, Ceres R, Pons J (2000) A survey of computer vision methods forlocating fruits on trees. Transactions of the ASAE, 43(6):1911{1920

14. ACKNOWLEDGMENT We would like to thank Dr. Rajendra kumar Principal, Girijabai Sail Institute of technology karwar We would also like to thank Mrs.Prof M.Sumalatha HOD of Electronics and Communication dept, Authors greatfully thank Mr. Yashawanth , Librarian for facilities offered by him.

15. THANK YOU