A Machine Vision System for Tomato Cluster Harvesting Robot

• KONDO Naoshi

  JSAM Member, Graduate School of Agriculture, Kyoto University

• YAMAMOTO Kazuya

  Graduate School of Agriculture, Kyoto University

• SHIMIZU Hiroshi

  JSAM Member, Graduate School of Agriculture, Kyoto University

• YATA Koki

  Graduate School of Science and Engineering

• KURITA Mitsutaka

  Graduate School of Agriculture, Kyoto University

• SHIIGI Tomoo

  Graduate School of Agriculture, Kyoto University

• MONTA Mitsuji

  JSAM Member, Graduate School of Natural Science and Technology

• NISHIZU Takahisa

  JSAM Member, Faculty of Applied Biological Science, Gifu University

抄録

Dutch style greenhouse for tomato production has become popular recently in many countries while cluster tomatoes have gained popularity among consumers. To improve harvest efficiency of the cluster tomatoes in large scale Dutch production systems, it is desirable to replace manual labor with automated machines. In this paper, a machine vision system developed for autonomous tomato fruit cluster harvesting is described. Since the difficulty of recognizing the grasping point depended on exposure of plant parts and on robot access angle, acquired images were classified into three groups. The research results show a 73% success rate in automatically locating grasping points for the robotic end-effector on main stems of the cluster tomatoes that can be visually identified by human eyes.

収録刊行物

• Engineering in Agriculture, Environment and Food

  Engineering in Agriculture, Environment and Food 2 (2), 60-65, 2009

  Asian Agricultural and Biological Engineering Association

キーワード

• Harvesting Robot
• Tomato Cluster
• Motion and Vibration Control

詳細情報

• CRID: 1390001205275830656
• NII論文ID: 130000108286
• DOI: 10.11165/eaef.2.60
• ISSN: 18818366
• 本文言語コード: en
• データソース種別:
  • JaLC
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可