A Machine Vision System for Tomato Cluster Harvesting Robot

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概要

• 論文の詳細を見る

• 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.

• Asian Agricultural and Biological Engineering Associationの論文

著者

• SHIMIZU Hiroshi

  JSAM Member, Corresponding author, Graduate School of Agriculture, Kyoto University

• Yamamoto Kazuya

  Graduate School of Medical Sciences, Kitasato University Hospital

• SHIIGI Tomoo

  Graduate School of Agricuture, Kyoto University

• KONDO Naoshi

  JSAM Member, Corresponding author, Graduate School of Agriculture, Kyoto University

• NISHIZU Takahisa

  JSAM Member, Faculty of Applied Biological Science, Gifu University

• KURITA Mitsutaka

  Graduate School of Agriculture, Kyoto University

• YATA Koki

  Graduate School of Science and Engineering

• MONTA Mitsuji

  JSAM Member, Graduate School of Natural Science and Technology

• SHIIGI Tomoo

  Graduate School of Agriculture, Kyoto University

• YAMAMOTO Kazuya

  Graduate School of Agriculture, Kyoto University

• SHIMIZU Hiroshi

  JSAM Member, Graduate School of Agriculture, Kyoto University

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