1 0 0 0 トマト収穫ロボットのための三次元カメラを用いた果実・果柄認識手法
- 著者
- 矢口 裕明 長谷川 貴巨 稲葉 雅幸
- 出版者
- 一般社団法人 日本機械学会
- 雑誌
- ロボティクス・メカトロニクス講演会講演概要集
- 巻号頁・発行日
- vol.2017, pp.1A1-C01, 2017
<p>In this paper, we propose the method of tomato fruit and pedicel recognition method using 3D camera for tomato harvesting robot. Recognition method is constructed by 2 parts; tomato fruits detection and tomato pedicel detection. To avoid detecting stem and pedicel of neighbor fruit, we propose a robust estimation method in pedicel direction calculation. We evaluated the proposed method in the greenhouse with real tomato trees, experimental result shows its robustness.</p>
1 0 0 0 OA 収穫装置と視覚認識に着目したトマト自動収穫ロボットの構成法
- 著者
- 矢口 裕明 長谷川 貴巨 長濱 虎太郎 稲葉 雅幸
- 出版者
- 一般社団法人 日本ロボット学会
- 雑誌
- 日本ロボット学会誌 (ISSN:02891824)
- 巻号頁・発行日
- vol.36, no.10, pp.693-702, 2018 (Released:2019-01-15)
- 参考文献数
- 17
- 被引用文献数
- 4
In this paper we propse a construction method of autonomous tomato harvesting robot. For tomato harvesting we focus to harvesting device and visual recognition method. We propose 2 types of harvesting method; cutting scissor and rotational plucking gripper. For recognition, we compare different 3 types of 3D camera, then we construct tomato fruit recognition method using color detection and sphere shape fitting, and also propose tomato pedicel detection method by robust estimation using direction from center of fruit to pedicel and gradient orientation of pedicel edge. Combining these elements, we construct some autonomous harvesting systems and evaluate harvesting of real tomatoes in the tomato robot competition and the real farming veniel house. According to evaluation results, both cutting and plucking has different advantage and disadvantage, it is important to select appropriate one for breed or individual. Also for recognition, pedicel recognition, which must be broken, increases reliability harvesting.