3-D vision system of tomato production robot

Abstract

To develop a multifunctional robot for tomato production, a 3-D vision sensor was made and attached at the end of the manipulator. The sensor emitted a red and an infrared laser beams to scan the object. Image recognition experiments for the fruit harvesting work and the plant training work were carried out. As for the fruit harvesting work, the location of the red ripe tomato and the other objects could be recognized. For the plant training work, white pole that was used as a prop of the tomato stem and also the tomato plant could be recognized. The 3-D vision sensor would be suitable for these tomato production works.