Robot for Harvesting Cherry Tomatoes in Mobile Cultivation Facilities (Part 1)

DOI Web Site 2 Citations 6 References
  • FUJIURA Tateshi
    Graduate School of Life and Environmental Sciences, Osaka Prefecture University
  • WADA Teruo
    Graduate School of Life and Environmental Sciences, Osaka Prefecture University
  • NISHIURA Yoshifumi
    Graduate School of Life and Environmental Sciences, Osaka Prefecture University
  • IKEDA Hideo
    Graduate School of Life and Environmental Sciences, Osaka Prefecture University
  • LIN Tingxi
    Graduate School of Life and Environmental Sciences, Osaka Prefecture University
  • BANBA Yasuhiro
    Graduate School of Life and Environmental Sciences, Osaka Prefecture University
  • DOHI Makoto
    Faculty of Life and Environmental Science, Shimane University

Bibliographic Information

Other Title
  • 移動型栽培施設のミニトマト収穫ロボット（第1報）
  • イドウガタ サイバイ シセツ ノ ミニトマト シュウカク ロボット ダイ1ポウ ロボット ノ ガイヨウ ト 3ジゲン ガゾウ ニンシキ
  • ——Outline of the Robot and 3-D Image Recognition——
  • ——ロボットの概要と三次元画像認識——

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Abstract

Experiments on a cherry tomato harvesting robot for a mobile cultivation facility were performed. In this report, the outline of the robot and the image recognition system are discussed. Cultivation beds were hung from 2 poles ; each pole was attached to a rail installed high in the greenhouse. The beds were moved under the rail by electric power. Plants were trained vertically along the poles. The robot consisted of a 6-axis manipulator, an end effector, a 3-D vision sensor, a personal computer, and a simple wheeler. The 3-D vision sensor scanned the plants with infrared and red laser beams. Reflected lights were detected by a PSD. Of the 247 fruits that were present in the visual field, 209 were recognized.

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