Visual Feedback Guidance of Manipulator for Eggplant Harvesting using Fuzzy Logic.

Hayashi, Shigehiko; Ganno, Katsunobu; Ishii, Yukitsugu

doi:10.2525/jshita.12.83

Cited by 2 publications

(1 citation statement)

References 1 publication

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“…It was confirmed that the algorithm could be used under different light conditions, although the algorithm detected a part of the fruit in the case of direct sunlight conditions. Manipulator guidance to fruit by fuzzy logic 4 After detection of the fruit by the machine vision unit, the manipulator approached the fruit with the use of machine vision data. A fuzzy logic was adopted for the manipulator guidance, since the machine vision algorithm would not always detect the whole part of fruit.…”

Section: System Componentsmentioning

confidence: 99%

Robotic Harvesting System for Eggplants

Hayashi

Ganno

Ishii

et al. 2002

JARQ

Self Cite

100

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The harvesting operation for eggplants is complicated and accounts for a little less than 40% of the total number of working hours. For automating the harvesting operation, an intelligent robot that can emulate the judgment of human labor is necessary. This study was conducted with a view to developing a robotic harvesting system that performs recognition, approach, and picking tasks. In order to accomplish these tasks, 3 essential components were developed. First, a machine vision algorithm combining a color segment operation and a vertical dividing operation was developed. The algorithm could detect the fruit even under different light conditions. Next, a visual feedback fuzzy control model to actuate a manipulator was designed. The control model enabled the manipulator end to approach the fruit from a distance of 300 mm. Furthermore, an end-effector composed of a fruit-grasping mechanism, a size-judging mechanism, and a peduncle-cutting mechanism was developed. It produced enough force for grasping the fruit and cutting the tough peduncle. Finally, the 3 essential components were functionally combined, and a basic harvesting experiment was conducted in the laboratory to evaluate the performance of the system. The system showed a successful harvesting rate of 62.5%, although the end-effector cut the peduncle at a slightly higher position from the fruit base. The execution time for harvesting of an eggplant was 64.1 s.

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Section: System Componentsmentioning

confidence: 99%

Robotic Harvesting System for Eggplants

Hayashi

Ganno

Ishii

et al. 2002

JARQ

Self Cite

100

View full text Add to dashboard Cite

show abstract

A Method of Detection and Identification for Axillary Buds

Kawaguchi,

Takesue

2024

JRM

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During the period from sowing and planting to harvesting, outdoor crops are directly affected by the natural environment, including wind, rain, frost, and sunlight. Under such circumstances, vegetables change their growth conditions, shape, and flexibility daily. We aimed to develop an agricultural work-support robot that automates monitoring, cultivation, disease detection, and treatment. In recent years, many researchers and venture companies have developed agricultural harvesting robots. In this study, instead of focusing on intensive harvesting operations, we focused on daily farm operations from the beginning of cultivation to immediately before harvest. Therefore, gripping and cutting are considered basic functions that are common to several routine agricultural tasks. To find the assumed objects from a camera image with a low computational load, this study focuses on branch points to detect and identify even if the stems, lateral branches, and axillary buds are swaying in the wind. A branch point is a characteristic part close to the working position, even when the wind blows. Therefore, we propose a method to detect the assumed branch points simultaneously and divide each branch point into the main stem, lateral branch, and axillary bud. The effectiveness of this method is demonstrated through experimental evaluations using three types of vegetables, regardless of whether their stems are swaying.

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Visual Feedback Guidance of Manipulator for Eggplant Harvesting using Fuzzy Logic.

Cited by 2 publications

References 1 publication

Robotic Harvesting System for Eggplants

Robotic Harvesting System for Eggplants

A Method of Detection and Identification for Axillary Buds

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