开源设备SROI助力机器人精准采摘草莓，收集操作数据。
Strawberry Robotic Operation Interface: An Open-Source Device for Collecting Dexterous Manipulation Data in Robotic Strawberry Farming
- 手持式模块化装置配双目相机，现场采集草莓采摘演示数据。
- 开发数据后处理流程，提取空间轨迹与夹爪状态信息。
- 公开采摘数据集，推动精密抓取技术研究与应用。
草莓种植依赖大量人力，尤其在需精细操作的采摘任务中。为应对这一挑战，本文提出草莓机器人作业接口（SROI），一款用于在真实田间环境中采集机器人草莓采摘操作数据的开源设备。SROI配备手持单元、可更换末端执行器及立体视觉相机，支持便捷地收集示范数据。我们还设计了数据后处理流程，从原始数据中提取空间轨迹和夹爪状态。此外，我们发布了开源的草莓采摘示范数据集，以促进精密机器人操作的研究。SROI为实现复杂草莓种植任务自动化迈出关键一步，有助于减少对人工的依赖。
原文摘要 · Abstract (English)
The strawberry farming is labor-intensive, particularly in tasks requiring dexterous manipulation such as picking occluded strawberries. To address this challenge, we present the Strawberry Robotic Operation Interface (SROI), an open-source device designed for collecting dexterous manipulation data in robotic strawberry farming. The SROI features a handheld unit with a modular end effector, a stereo robotic camera, enabling the easy collection of demonstration data in field environments. A data post-processing pipeline is introduced to extract spatial trajectories and gripper states from the collected data. Additionally, we release an open-source dataset of strawberry picking demonstrations to facilitate research in dexterous robotic manipulation. The SROI represents a step toward automating complex strawberry farming tasks, reducing reliance on manual labor.
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