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JRM Vol.32 No.2 pp. 437-444
doi: 10.20965/jrm.2020.p0437
(2020)

Paper:

Cutting Point Detection Using a Robot with Point Clouds for Tomato Harvesting

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

Received:
May 28, 2019
Accepted:
January 7, 2020
Published:
April 20, 2020
Keywords:
harvesting robot, cutting point detection, point cloud processing, voxel processing
Abstract
Cutting Point Detection Using a Robot with Point Clouds for Tomato Harvesting

Target image and cutting point by proposed method

This paper proposes a method to detect cutting points on tomato peduncles using a harvesting robot. The main objective of this study was to develop automated harvesting robots. The harvesting robot was equipped with an RGB-D (Red, Blue, Green, and Depth) camera to detect peduncles and an end effector to harvest tomatoes. Robots must be able to detect where to cut crops during harvesting. The proposed method was used to detect the cutting points on peduncles using a point cloud captured by the RGB-D camera. Our robot was used to identify the cutting points on target tomato peduncles at an actual farm to demonstrate the effectiveness of our approach experimentally. Using the proposed method, the harvesting robot could detect the cutting points on tomatoes.

Cite this article as:
T. Yoshida, T. Fukao, and T. Hasegawa, “Cutting Point Detection Using a Robot with Point Clouds for Tomato Harvesting,” J. Robot. Mechatron., Vol.32, No.2, pp. 437-444, 2020.
Data files:
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Last updated on Dec. 01, 2020