Tomato Recognition for Harvesting Robots Considering Overlapping Leaves and Stems
Takeshi Ikeda*1, Ryo Fukuzaki*2, Masanori Sato*3, Seiji Furuno*4, and Fusaomi Nagata*1
*1Sanyo-Onoda City University
1-1-1 Daigaku-dori, Sanyoonoda, Yamaguchi 756-0884, Japan
*2Yanagiya Machinery Co., Ltd.
189-18 Yoshiwa, Ube, Yamaguchi 759-0134, Japan
*3Nagasaki Institute of Applied Science
536 Aba-machi, Nagasaki, Nagasaki 851-0193, Japan
*4National Institute of Technology, Kitakyushu College
5-20-1 Shii, Kokuraminami, Kitakyushu, Fukuoka 802-0985, Japan
In recent years, the declining and aging population of farmers has become a serious problem. Smart agriculture has been promoted to solve these problems. It is a type of agriculture that utilizes robotics, and information and communication technology to promote labor saving, precision, and realization of high-quality production. In this research, we focused on robots that can harvest tomatoes. Tomatoes are delicate vegetables with a thin skin and a relatively large yield. During automatic harvesting of tomatoes, to ensure the operation of the harvesting arm, an input by image processing is crucial to determine the color of the tomatoes at the time of harvesting. Research on robot image processing technology is indispensable for accurate operation of the arm. In an environment where tomatoes are harvested, obstacles such as leaves, stems, and unripe tomatoes should be taken into consideration. Therefore, in this research, we propose a method of image processing to provide an appropriate route for the arm to ensure easy harvesting, considering the surrounding obstacles.
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