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All Journal IAES International Journal of Robotics and Automation (IJRA)
Tri Cong Phung
Ho Chi Minh University of Technology (HCMUT)
Automotive Engineering Electrical & Electronics Engineering

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Design of beefsteak tomato harvesting robot system in greenhouse Thien An Dinh; So Nam Phung; Tri Cong Phung
IAES International Journal of Robotics and Automation (IJRA) Vol 15, No 2: June 2026
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v15i2.pp353-364

Abstract

One challenge for tomato harvesting robots is that some of the tomato stems were not detectable because they were hidden behind the leaves or other obstacles. The primary objective of this research is to design, simulate, and experiment with a tomato harvesting robot and propose an improved detection algorithm to overcome the above problem. The suggested detection algorithm is designed to first detect the tomato fruit itself, and if the stem is not visible, the system will automatically adjust the camera's viewing angle to provide a better perspective and uncover the hidden stem. Simulation and experimental tests were carried out in a real tomato greenhouse to evaluate the cutting and holding mechanism, as well as the camera-based detection algorithm. These experimental results confirmed the effectiveness of the gripper and detection system and revealed several challenges in the harvesting algorithm. By integrating advanced algorithms for tomato detection and harvesting, this robot will reduce damage to the tomatoes, ensuring higher quality and yield.
Co-Authors So Nam Phung Thien An Dinh