Recognition and cutting system of sweet pepper for picking robot in greenhouse horticulture

Author

Kitamura, Shinsuke ; Oka, Koichi

Author_Institution

Dept. of Intelligent Mech. Syst. Eng., Kochi Univ. of Technol., Japan

Volume

4

fYear

2005

fDate

29 July-1 Aug. 2005

Firstpage

1807

Abstract

This paper describes recognition and cutting system of sweet peppers for picking robots in greenhouse horticulture. This picking robot has an image processing system with a parallel stereovision, a camera positioning system to follow the sweet pepper by visual feedback control, and a cutting device. A prototype robot system has been made and is introduced. Experiments of the prototype prove that performance of the cutting system depends on recognition of fruits of sweet peppers. Consequently, the robot has ability for picking sweet peppers.

Keywords

feedback; greenhouses; horticulture; image recognition; industrial robots; position control; robot vision; stereo image processing; camera positioning system; cutting system; greenhouse horticulture; image processing system; parallel stereovision; picking robot; sweet pepper recognition; visual feedback control; Cameras; Feedback control; Image processing; Image recognition; Intelligent robots; Intelligent systems; Mechanical systems; Prototypes; Robot vision systems; Robotics and automation;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2005 IEEE International Conference

Print_ISBN

0-7803-9044-X

Type

conf

DOI

10.1109/ICMA.2005.1626834

Filename

1626834