Wednesday, November 30, 2016

CATCH Experiment Workshop

On the 6th December 2016 we organize at ATB in Bornim-Potsdam a workshop with interested potential end-users (mainly agricultural companies in Brandenburg and across Germany). The main goal is to initiate discussion about impact and potential appplications for robots in agricultural tasks, especially CATCH dual-arm system and harvesting operations.

The invitation is enclosed, and there are stille some open places, therefore please, if you are interested  to participate, contact the workshop office.

Of course, we will put some feedbacks and comments from the workshop in the blog soon.

Friday, October 21, 2016

Cucumbers unplugged

Since the gripper, the gripping strategy and the detaching strategy are related to each other, it is important to find the right combination of hardware and strategies in order to harvest without producing to many damaged cucumbers.

The work with two arms leads to one obvious way: Cutting the stem with a pair of sicorss.
However, this might not be the fastest way for harvest. The following videos show some human stategies for detaching:

video video

In both videos the stem which is still connected to the fruit is too long. Another possible strategy:

video video

The second video shows a cucumber with a damaged tip. This is also a problem for further processing of the cucumbers.



Wednesday, August 31, 2016

Final robot-gripper concept

 Final concept of robot and grippers

The tow following images show the final concept of the robot (igus) and the grippers.



Monday, August 29, 2016

Vision System

PRELIMINARY EXPERIMENTS

Last week, first experiments were carried out in Madrid in order to acquire datasets for the design of the detection algorithms.


 

Friday, August 12, 2016

Robot Arm

First arm arrived!

Today the first arm of the harvest robot arrived at our lab in Berlin. It is a robolink-D from igus with 5 axes. Here is a short unboxing photo collection:








Thursday, August 11, 2016

Harvest (August)

 01.08.2016

We are so proud that our field in Marquardt (Potsdam) has the best conditions for pickling cucumbers! 


We harvest today nearly 100 kg cucumbers 






02.08.2016

Pilot test with exactly motion analysis of the human hands during the harvest process


Comfortable carriage ;)





video


Thursday, July 14, 2016

Harvest (July)

Cucumber harvest at ATB Potsdam

 The following pictures show cucumbers and their plants in July 2016 at ATB Potsdam. They are going to play an important role in the ECHORD++ project CATCH starting in September 2016, where we plan to develop a cucumber harvesting robot.









Conventional cucumber harvest at Spreewald region in Germany: