Achieving robotically peeled lettuce
Robotic technologies are being increasingly applied to agriculture, in particular to harvesting. Some types of produce such as iceberg lettuce require additional processing after harvesting in order to satisfy the needs of the end-user or customer. Lettuce must have its outer leaves removed, a task...
| Main Authors: | , , , , |
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| Format: | Journal article |
| Published: |
Institute of Electrical and Electronics Engineers
2018
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| _version_ | 1797102714166968320 |
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| author | Hughes, J Scimeca, L Ifrim, I Maiolino, P Iida, F |
| author_facet | Hughes, J Scimeca, L Ifrim, I Maiolino, P Iida, F |
| author_sort | Hughes, J |
| collection | OXFORD |
| description | Robotic technologies are being increasingly applied to agriculture, in particular to harvesting. Some types of produce such as iceberg lettuce require additional processing after harvesting in order to satisfy the needs of the end-user or customer. Lettuce must have its outer leaves removed, a task that is currently performed manually. The leaf removal task represents a challenging vision and manipulation problem: the lettuce is in a random pose on a flat surface, from which the outermost leaves must be removed quickly and without causing damage. This letter presents a novel vision pipeline and suction removal system that enables robotic lettuce leaf removal. A suction nozzle and control procedure are used for the removal itself, relying on the orientation estimation and stem detection provided by the vision pipeline. To the best of the author's knowledge, this is the first robotic lettuce leaf peeling system. |
| first_indexed | 2024-03-07T06:09:42Z |
| format | Journal article |
| id | oxford-uuid:ef0b808d-4396-4d67-b5a8-2e07ac4b2c93 |
| institution | University of Oxford |
| last_indexed | 2024-03-07T06:09:42Z |
| publishDate | 2018 |
| publisher | Institute of Electrical and Electronics Engineers |
| record_format | dspace |
| spelling | oxford-uuid:ef0b808d-4396-4d67-b5a8-2e07ac4b2c932022-03-27T11:37:28ZAchieving robotically peeled lettuceJournal articlehttp://purl.org/coar/resource_type/c_dcae04bcuuid:ef0b808d-4396-4d67-b5a8-2e07ac4b2c93Symplectic Elements at OxfordInstitute of Electrical and Electronics Engineers2018Hughes, JScimeca, LIfrim, IMaiolino, PIida, FRobotic technologies are being increasingly applied to agriculture, in particular to harvesting. Some types of produce such as iceberg lettuce require additional processing after harvesting in order to satisfy the needs of the end-user or customer. Lettuce must have its outer leaves removed, a task that is currently performed manually. The leaf removal task represents a challenging vision and manipulation problem: the lettuce is in a random pose on a flat surface, from which the outermost leaves must be removed quickly and without causing damage. This letter presents a novel vision pipeline and suction removal system that enables robotic lettuce leaf removal. A suction nozzle and control procedure are used for the removal itself, relying on the orientation estimation and stem detection provided by the vision pipeline. To the best of the author's knowledge, this is the first robotic lettuce leaf peeling system. |
| spellingShingle | Hughes, J Scimeca, L Ifrim, I Maiolino, P Iida, F Achieving robotically peeled lettuce |
| title | Achieving robotically peeled lettuce |
| title_full | Achieving robotically peeled lettuce |
| title_fullStr | Achieving robotically peeled lettuce |
| title_full_unstemmed | Achieving robotically peeled lettuce |
| title_short | Achieving robotically peeled lettuce |
| title_sort | achieving robotically peeled lettuce |
| work_keys_str_mv | AT hughesj achievingroboticallypeeledlettuce AT scimecal achievingroboticallypeeledlettuce AT ifrimi achievingroboticallypeeledlettuce AT maiolinop achievingroboticallypeeledlettuce AT iidaf achievingroboticallypeeledlettuce |