Robot for harvesting cherry tomatoes in mobile cultivation facilities, 1: Outline of the robot and 3-D image recognition
2010
Fujiura, T., Osaka Prefecture Univ., Sakai (Japan) | Wada, T. | Nishiura, Y. | Ikeda, H. | Lin, T. | Banba, Y. | Dohi, M.
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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