Improvement of the Ability to Recognize Sweet Peppers for Picking Robot in Greenhouse Horticulture

摘要

This paper describes improvement of the ability to recognize sweet peppers for picking robot in greenhouse horticulture. A prototype of the picking robot for sweet peppers has been manufactured. This robot has an image processing system, a camera positioning system, and a cutting device. However the ability to recognize sweet peppers was low, the picking ability was also low. The color of fruits of sweet peppers is almost same color of leaves of it. For identifying a fruit from leaves, this system needs the lighting system. At first we used the fluorescent lamp on the lighting system. In this system, it was possible to identify only fruits in the condition of mixed fruits and leaves. However, if the fruits overlapping with several other fruits, the shapes of these fruits did not exactly recognize, and it is possible to be different the two fruits that are recognized by right and left camera. In this case, because it cannot to exactly measure by stereovision system, the picking ability became low. So we use the new lighting system with LED. In the result of experiments, this CDD lighting system improves the ability to recognize the sweet peppers