視覚情報に基づくトマト果実収穫ロボットの行動戦略（第五報）

―トマト生育状態マップを活用した総収穫時間の推定―

抄録

This paper presents an estimation method of total harvesting time using the tomato harvesting robot developed in this study. In this robot, the occlusion ratio of obstacles to the target tomato is one of the factors for harvestability. The occlusion ratio was quantified, and the criteria for tomatoes that are easy for this robot to harvest was determined based on the results of the harvesting experiment. Using the tomato growth state map, the total harvesting time was estimated from the location data of the tomatoes that can be shipped with the occlusion ratio of 0.07 or less.