Basic Studies on Robot to work in Vineyard (Part 2)

Discriminating, Position Detecting and Harvesting Experiments by Using Visual Sensor

Abstract

In this report, spectral reflectances of parts of grapevines were at first measured in order to select pairs of optical filters which were suitable for discrimination by visual sensor. Secondly, experiments to discriminate each part were done by using R, G, B filters and interference filters. From the result, it was able to discriminate not only between different color parts but also between similar color parts of grapevines. Thirdly, experiments to detect positions of bunch and rachis and to harvest bunches were done by using the manipulator, to which CCD camera was attached. It was observed that the detecting errors were reasonable since such errors were able to be absorbed by harvesting hand.