Robotic Harvesting System for Eggplants Trained in V-Shape (Part 1)-System Composition and Fruit Detection-

DOI Web Site 4 Citations 12 References
  • HAYASHI Shigehiko
    Lab. Farm Mechanization, National Research Institute of Vegetables, Ornamental Plants and Tea
  • GANNO Katsunobu
    Lab. Farm Mechanization, National Research Institute of Vegetables, Ornamental Plants and Tea
  • KUROSAKI Hidehito
    Lab. Farm Mechanization, National Research Institute of Vegetables, Ornamental Plants and Tea
  • ARIMA Seiichi
    Faculty of Agriculture, Ehime University
  • MONTA Mitsuji
    Faculty of Agriculture, Okayama University

Bibliographic Information

Other Title
  • Ｖ字型整枝されたナスを対象としたロボット収穫システム（第１報）―システム構成と果実検出―
  • Vジガタ セイシ サレタ ナス オ タイショウ ト シタ ロボット シュウカク システム ダイ1ポウ システム コウセイ ト カジツ ケンシュツ
  • System Composition and Fruit Detection
  • システム構成と果実検出

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Abstract

A robotic harvesting system was developed to realize selective harvesting for eggplants (Solanum melongena L.) trained in V-shape in a greenhouse. The purpose of the first part of this study is to explain the system components and the global sensing for detecting fruit and to examine the image scanning. The system was composed of control unit, sensing unit, manipulator unit, end-effector unit, and traveling vehicle. The system could run at an inter-ridge space and scan the image of eggplants set at both sides with a combination of the vehicle traveling and manipulator control. The global sensing could detect the existence of fruit from approximately 500 mm away using an image processing technique. The basic experiment of image scanning was conducted to evaluate the global sensing. The success detection ratio was 69.3%. However, unsuccessful detections were observed, such as fruit on an adjacent plant, under-sized fruit, and shade. The scanning time, which includes traveling, image capture, and manipulator motion, within 4 m in length and 1.7 m in height was 317 s. The manipulator motion occupied most of the total scanning time. The fruit direction could be calculated from the centroids of the detected fruit.

Journal

  • Shokubutsu Kojo Gakkaishi

    Shokubutsu Kojo Gakkaishi 15 (4), 205-210, 2003

    JAPANESE SOCIETY OF AGRICULTURAL, BIOLOGICAL AND ENVIRONMENTAL ENGINEERS AND SCIENTISTS

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