国立研究開発法人 国際農林水産業研究センター | JIRCAS

Robotic Harvesting System for Eggplants

JARQ : Japan Agricultural Research Quarterly
ISSN
00213551
書誌レコードID(総合目録DB)
AA0068709X
本文フルテキスト

The harvesting operation for eggplants is complicated and accounts for a little less than 40% of the total number of working hours. For automating the harvesting operation, an intelligent robot that can emulate the judgment of human labor is necessary. This study was conducted with a view to developing a robotic harvesting system that performs recognition, approach, and picking tasks. In order to accomplish these tasks, 3 essential components were developed. First, a machine vision algorithm combining a color segment operation and a vertical dividing operation was developed. The algorithm could detect the fruit even under different light conditions. Next, a visual feedback fuzzy control model to actuate a manipulator was designed. The control model enabled the manipulator end to approach the fruit from a distance of 300 mm. Furthermore, an end-effector composed of a fruit-grasping mechanism, a size-judging mechanism, and a peduncle-cutting mechanism was developed. It produced enough force for grasping the fruit and cutting the tough peduncle. Finally, the 3 essential components were functionally combined, and a basic harvesting experiment was conducted in the laboratory to evaluate the performance of the system. The system showed a successful harvesting rate of 62.5%, although the end-effector cut the peduncle at a slightly higher position from the fruit base. The execution time for harvesting of an eggplant was 64.1 s.

刊行年月2002-07-01
作成者HAYASHI ShigehikoGANNO KatsunobuISHII YukitsuguTANAKA Itsuo
著者キーワード

machine vision

manipulator

end-effector

公開者Japan International Research Center for Agricultural Sciences
データ作成日2002-07-01
国立情報学研究所メタデータ主題語彙集(資源タイプ)Journal Article
36
3
開始ページ163
終了ページ168
DOI10.6090/jarq.36.163
権利Japan International Research Center for Agricultural Sciences
言語eng