Methods of Detecting Fruit by Visual Sensor Attached to Manipulator (III)

Detecting Methods of Plant Bodies whose Shapes are Difficult to be Approximated by Sphere

Abstract

In the Part I and II of this series, a detecting method of a fruit whose shape was able to be approximated by a sphere was investigated. In the method, the distance from visual sensor which was attached to manipulator to fruit was calculated using the moved distance and picture element numbers recognizing object which were obtained before and after manipulator moved, while the manipulator was moving to the object.
In this paper, detecting methods of objects whose shapes were difficult to be approximated by a sphere such as stem, leaf, and long fruit was investigated by computer simulation and experiment using a telescopic arm. From the results, it was observed that the measurement accuracy satisfied the request of agricultural visual sensor.