Development of a Tomato Harvesting Robot in Intelligent Greenhouses

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Other Title
  • 太陽光植物工場におけるトマト収穫ロボットの開発
  • - Investigation of Plant Training System with Support Racks and Detection Methods for Each Plant Parts-
  • ―支持棚による栽培様式および植物各部の検出方法の検討―

Description

<p>The harvesting of tomatoes grown in greenhouses requires automation and robotization. We are developing a robot that directly separates the pedicel without grasping the tomato fruit to harvest. In this study, we have developed supporting racks for ease of harvesting and a plant extraction algorithm for detection. The support racks were tried strings and cucumber nets. A depth camera was used for the detection of plant bodies. The results show that using strings to support fruit branches is practical, and it is possible to extract stem clusters. In the future, we will develop an algorithm to classify the fruit stalk.</p>

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