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
36-03-07.pdf1.74 MB

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.

作成者 HAYASHI Shigehiko GANNO Katsunobu ISHII Yukitsugu TANAKA Itsuo

machine vision



公開者 Japan International Research Center for Agricultural Sciences
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
開始ページ 163
終了ページ 168
DOI 10.6090/jarq.36.163
権利 Japan International Research Center for Agricultural Sciences
言語 eng