ポット栽培を対象とした分散処理型トマト自動収穫システムの開発

抄録

Tomato fruits are grown all over the pot, and fruits behind the pot are a problem in terms of both detection and harvesting. In this study, an automatic harvesting robot is consisted of two RGB-D cameras, a 5DOF robotic arm, an end-effector with both suction and grasping mechanisms, and a pot rotation mechanism to detect all tomato fruits on the pot. In addition to the above, we propose a fully automatic tomato harvesting system on the pot by implementing software composed of distributed systems including deep learning, fruit detection, reliability improvement of fruit position, harvesting motion generation, and hardware control, which are independent of each other.