VISION SYSTEM FOR CUCUMBER-HARVESTING ROBOT

摘要

A vision system was made and experimented for a cucumber-harvesting robot that harvests fruits on the cucumber plants trained along the inclined poles. The fruit was detected by specular-reflection sensors while the robot was traveling. The detected fruit was scanned by a 3-D vision sensor. Image recognition experiment was carried out using cucumber models that were made based on a real cucumber. The location and the size of the fruit could be recognized.