Abstract
This paper proposes a blueberry harvesting robot which estimates ripeness based on three criteria. In America, a blueberry harvesting machine which shakes down blueberries is introduced. However, to harvest sweet high-value bluberries, it is necessary to estimate ripeness of each berry at the time of harvest. Expert farmers harvest bluberries based on some features, which include color, softness, and easiness of being picked. We propose a robot which harvests blueberries based on its color, softness and picking-force like expert farmers do, by image processing, softness sensing, and a negative air pressure picking system.
