کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
4508635 | 1321618 | 2009 | 7 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Machine Vision Algorithm for Robots to Harvest Strawberries in Tabletop Culture Greenhouses
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کلمات کلیدی
موضوعات مرتبط
علوم زیستی و بیوفناوری
علوم کشاورزی و بیولوژیک
علوم زراعت و اصلاح نباتات
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چکیده انگلیسی
A strawberry harvesting robot consisting of a four DOF manipulator, an end-effector with suction pad, a three camera vision system and a rail type traveling device was developed as a trial to conduct experiments in a tabletop culture greenhouse. In order to harvest the strawberries with curved or inclined peduncles, a wrist joint which can rotate 15 degrees to the left or right from its base position was added. On the algorithm side, peduncle inclination angle was measured by the center camera. Harvesting experiments show that it was possible to precisely harvest more than 75% of fruits which were not occluded by other fruits with the developed robot. Experimental data also show that peduncle length, color and inclination pattern change with the seasons. Complex situations often exist in the real field conditions such as limited visibility of back end strawberries, occluded fruits, obstructions and complex peduncle patterns. Further studies are desirable to automate the harvesting task using a robot.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Engineering in Agriculture, Environment and Food - Volume 2, Issue 1, 2009, Pages 24-30
Journal: Engineering in Agriculture, Environment and Food - Volume 2, Issue 1, 2009, Pages 24-30
نویسندگان
Peter Rajendra, Naoshi Kondo, Kazunori Ninomiya, Junzo Kamata, Mitsutaka Kurita, Tomowo Shiigi, Shigehiko Hayashi, Hirotaka Yoshida, Yasushi Kohno,