The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2014
Session ID : 1P2-W05
Conference information
1P2-W05 Automatic Buleberry Harvesting Robot System Based on 3D Vision and Degree of Ripeness(Robotics and Mechatronics in Agriculture)
Jumpei KuniyoshiIkuo MizuuchiJingai CheIsao Ogiwara
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CONFERENCE PROCEEDINGS FREE ACCESS

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Abstract
Recently, blueberries are becoming popular as functional food, and the cultivation area continues to increase in Japan. In America, a blueberry harvesting machine which shakes down blueberries is introduced. However, to harvest sweet high-value bluberries, it is necessary to pick by expert farmers' hands for estimating ripeness of each berry at the time of harvest. Therefore, we think that a robot which can pick ripe blueberries one by one like expert farmers do is necessary. In this paper, we propose a robot arm approach method of preventing the robot's end-effector from colliding with obstacles based on 3D vision and imgage processing, and we build a foundation of an automatic ripe blueberry harvesting system with a wheel moving arm robot.
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© 2014 The Japan Society of Mechanical Engineers
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