JRM Vol.30 No.2 pp. 180-186
doi: 10.20965/jrm.2018.p0180


Fast Detection of Tomato Peduncle Using Point Cloud with a Harvesting Robot

Takeshi Yoshida*, Takanori Fukao*, and Takaomi Hasegawa**

*Ritsumeikan University
1-1-1 Noji-higashi, Kusatsu, Shiga 525-8577, Japan

**Denso Corporation
1-1 Syowa-cho, Kariya, Aichi 448-8661, Japan

September 19, 2017
February 1, 2018
April 20, 2018
harvesting robot, peduncle detection, point cloud processing, voxel processing

This paper proposes a fast method for detecting tomato peduncles by a harvesting robot. The main objective of this study is to develop automated harvesting with a robot. The harvesting robot is equipped with an RGB-D camera to detect peduncles, and an end effector to harvest tomatoes. It is necessary for robots to detect where to cut a plant for harvesting. The proposed method detects peduncles using a point cloud created by the RGB-D camera. Pre-processing is performed with voxelization in two resolutions to reduce the computational time needed to calculate the positional relationship between voxels. Finally, an energy function is defined based on three conditions of a peduncle, and this function is minimized to identify the cutting point on each peduncle. To experimentally demonstrate the effectiveness of our approach, a robot was used to identify the peduncles of target tomato plants and harvest the tomatoes at a real farm. Using the proposed method, the harvesting robot achieved peduncle detection of the tomatoes, and harvested tomatoes successfully by cutting the peduncles.

An example of the harvesting process

An example of the harvesting process

Cite this article as:
T. Yoshida, T. Fukao, and T. Hasegawa, “Fast Detection of Tomato Peduncle Using Point Cloud with a Harvesting Robot,” J. Robot. Mechatron., Vol.30 No.2, pp. 180-186, 2018.
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Last updated on May. 10, 2024