Field Operation of a Movable Strawberry-harvesting Robot using a Travel Platform
ISSN | 00213551 |
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書誌レコードID(総合目録DB) | AA0068709X |
This paper describes the development of a movable strawberry-harvesting robot that can be mounted on a travel platform, along with its practical operation in a greenhouse. The harvesting robot can traverse and enter an adjacent path and picking is performed with the travel platform halted on the travel path. Machine vision is used to detect a piece of red fruit and calculate its position in the three-dimensional space, whereupon its maturity level is assessed according to an area ratio determined by classifying the whole fruit into three areas: ripe, intermediate, and unripe area fractions. Sufficiently mature fruit are picked by the end-effector by cutting the peduncle. During operational tests in a greenhouse, our machine vision algorithm to assess maturity level showed a coefficient of determination of 0.84. Setting the maturity level parameter at 70 or 80% resulted in higher shippable fruit rates than the setting of 60%, because small unripe fruit positioned in front of larger ripe fruit were successfully skipped in the former case. Our results showed that a higher shippable fruit rate could be achieved later in the harvest season, reaching 97.3% in the test in June. The successful harvesting rate and work efficiency were 54.9% and 102.5 m h-1, respectively.
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作成者 | HAYASHI Shigehiko YAMAMOTO Satoshi SAITO Sadafumi OCHIAI Yoshiji KAMATA Junzo KURITA Mitsutaka YAMAMOTO Kazuhiro |
著者キーワード |
shippable fruit rate successful harvesting rate traverse function work efficiency |
公開者 | Japan International Research Center for Agricultural Sciences |
オンライン掲載日 | |
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 |
巻 | 48 |
号 | 3 |
開始ページ | 307 |
終了ページ | 316 |
DOI | 10.6090/jarq.48.307 |
権利 | Japan International Research Center for Agricultural Sciences |
言語 | eng |