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Vision based Tele-operating System of Robotic Smart Farming for Fruit Harvesting and Cultivation Management Youngsun Ryuh, Kwang Mo Noh, Joon Gul Park* Robotics R&BD Group, Korea Institute of Industrial Technology, Ansan, Korea Department of Nano Science and Mechatronics Engineering, Konkuk University, Chungju, Korea Received: March 25th 2014; Revised: May 20th 2014; Accepted: May 29th 2014 Purposes: This study was to validate the Robotic Smart Work System that can provides better working conditions and high productivity in unstructured environments like bio-industry, based on a tele-operation system for fruit harvesting with low cost 3-D positioning system on the laboratory level. Methods: For the Robotic Smart Work System for fruit harvesting and cultivation management in agriculture, a vision based tele-operating system and 3-D position information are key elements. This study proposed Robotic Smart Farming, an agricultural version of Robotic Smart Work System, and validated a 3-D position information system with a low cost omni camera and a laser marker system in the lab environment in order to get a vision based tele-operating system and 3-D position information. Results: The tasks like harvesting of the fixed target and cultivation management were accomplished even if there was a short time delay (30 ms ~ 100 ms). Although automatic conveyor works requiring accurate timing and positioning yield high productivity, the tele-operation with user’s intuition will be more efficient in unstructured environments which require target selection and judgment. Conclusions: This system increased work efficiency and stability by considering ancillary intelligence as well as user’s experience and knowhow. In addition, senior and female workers will operate the system easily because it can reduce labor and minimized user fatigue.

baio si'seu'tem gonghag/journal of biosystems engineering

Tele-operating System of Field Robot for Cultivation Management - Vision based Tele-operating System of Robotic Smart Farming for Fruit Harvesting and Cultivation Management