Automation and labor saving in agriculture have been required recently. However, mechanization and robots for growing fruits have not been advanced. This study proposes a method of detecting fruits and automated harvesting using a robot arm. A highly fast and accurate method with a Single Shot MultiBox Detector is used herein to detect the position of fruit, and a stereo camera is used to detect the three-dimensional position. After calculating the angles of the joints at the detected position by inverse kinematics, the robot arm is moved to the target fruit’s position. The robot then harvests the fruit by twisting the hand axis. The experimental results showed that more than 90% of the fruits were detected. Moreover, the robot could harvest a fruit in 16 s.

中文翻译：

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使用深度学习的自动水果收获机器人

最近需要农业自动化和节省劳动力。但是，尚未实现机械化和水果种植机器人的发展。这项研究提出了一种使用机械臂检测水果并自动收获的方法。本文使用具有单发MultiBox检测器的快速，准确的方法来检测水果的位置，并使用立体相机来检测三维位置。通过逆运动学计算出在检测到的位置处的关节角度后，将机械臂移动到目标水果的位置。然后，机器人通过旋转手轴来收获水果。实验结果表明，检测到超过90％的水果。此外，机器人可以在16秒内收获水果。