Machine Vision Algorithm for Robots to Harvest Strawberries in Tabletop Culture Greenhouses
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概要
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A strawberry harvesting robot consisting of a four DOF manipulator, an end-effector with suction pad, a three camera vision system and a rail type traveling device was developed as a trial to conduct experiments in a tabletop culture greenhouse. In order to harvest the strawberries with curved or inclined peduncles, a wrist joint which can rotate 15 degrees to the left or right from its base position was added. On the algorithm side, peduncle inclination angle was measured by the center camera. Harvesting experiments show that it was possible to precisely harvest more than 75% of fruits which were not occluded by other fruits with the developed robot. Experimental data also show that peduncle length, color and inclination pattern change with the seasons. Complex situations often exist in the real field conditions such as limited visibility of back end strawberries, occluded fruits, obstructions and complex peduncle patterns. Further studies are desirable to automate the harvesting task using a robot.
著者
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KONDO Naoshi
Graduate School of Agricuture, Kyoto University
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KURITA Mitsutaka
Technology Development Department, SI Seiko Co. Ltd.
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SHIIGI Tomowo
Graduate School of Agriculture, Kyoto University
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KOHNO Yasushi
Ehime Agricultural Experiment Station
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KOHNO Yasushi
Ehime Prefecture Agricultural Experiment Station
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RAJENDRA Peter
Technology development department, S.I.Seiko Co.Ltd
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NINOMIYA Kazunori
Technology development department, S.I.Seiko Co.Ltd
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KAMATA Junzo
Technology development department, S.I.Seiko Co.Ltd
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HAYASHI Shigehiko
Protected Cultivation Engineering Laboratory, Horticultural Engineering Department
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YOSHIDA Hirotaka
Protected Cultivation Engineering Laboratory, Horticultural Engineering Department
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KONDO Naoshi
Graduate School of Agriculture, Kyoto University
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KURITA Mitsutaka
Technology development department, S.I.Seiko Co.Ltd
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