Study on Strawberry Harvesting Robot Using Machine Vision for Strawberry Grown on Annual Hill Top (Part 2)

DOI Web Site 5 Citations 9 References
  • CUI Yongjie
    The Japanese Society of Agricultural Machinery Faculty of Agriculture, University of Miyazaki
  • NAGATA Masateru
    The Japanese Society of Agricultural Machinery Faculty of Agriculture, University of Miyazaki
  • GUO Feng
    Robot laboratory, Shanghai Jiaotong University
  • HIYOSHI Kenji
    The Japanese Society of Agricultural Machinery Faculty of Agriculture, University of Miyazaki
  • KINOSHITA Osamu
    The Japanese Society of Agricultural Machinery Faculty of Agriculture, University of Miyazaki
  • MITARAI Masafumi
    The Japanese Society of Agricultural Machinery Faculty of Agriculture, University of Miyazaki

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Other Title
  • マシンビジョンによる内成り栽培用イチゴ収穫ロボットの研究 (第2報)
  • マシン ビジョン ニ ヨル ウチナリ サイバイヨウ イチゴ シュウカク ロボット ノ ケンキュウ ダイ 2ホウ サイカヨウ カメラ ニ ヨル ジュクド ハンテイ カヘイ ニンシキ オヨビ サイカ ハンド ノ シサク

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Abstract

This paper was carried on a strawberry harvesting robot which can precisely harvest the fruit without damage through cutting and holding the peduncle for strawberries grown on annual hill tops. This second study proposed an image processing method for the ripeness judgment of fruits and the recognition of the peduncle, and described the fabrication of the picking hand. The ripeness judgment of fruits was based on the fruit's coloring rate to determine their proper harvesting timing. The peduncle recognition involves extraction of the display line of peduncle, as well as determination of its cutting position and direction angle. Results confirmed that the harvestable fruits having at least 50 to 60% coloring were able to be determined, while the cutting position and direction angle of the peduncles can be obtained. From the information provided by the image processing method, the picking hand's ability to cut and hold the harvestable fruits through their peduncle was confirmed.

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