Evaluation of Tomato Fruit Harvestability for Robotic Harvesting
Evaluation of Tomato Fruit Harvestability for Robotic Harvesting
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DOI：
10.1109/ieeeconf49454.2021.9382603
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发表时间：
2021-01
期刊：
影响因子：
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通讯作者：
T. Fujinaga;S. Yasukawa;K. Ishii
中科院分区：
文献类型：
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作者：
T. Fujinaga;S. Yasukawa;K. Ishii
可收获性是使用机器人收获番茄果实的容易程度的定量指标。以往对番茄收获机器人的研究主要集中在番茄果实的检测方法、收获机理、收获成功率和收获时间等方面。然而，使用机器人的番茄果实采收率尚未进行定量评估。在本文中，我们提出了一种方法来评估番茄果实的采收率使用番茄收获机器人。我们首先定性地评估收获稳定性，根据在番茄温室中进行的收获实验的结果。然后，使用安装在所开发的番茄收获机器人的末端执行器上的照相机（下文中称为手持照相机）定量地评价可收获性。手持摄像头由RGB摄像头和深度摄像头组成。使用由手持相机获取的RGB图像和深度图像来计算障碍物（茎、梗和其他水果）对目标水果的遮挡率。闭塞比越大，即，目标果实前面的障碍物越多，目标果实就越难收获。相反，如果闭塞率低，则可收获性高。本研究表明，遮挡率可作为番茄果实采收率的定量指标。
Harvestability is a quantitative index of how easy tomato fruits are to harvest using a robot. Previous studies on tomato harvesting robots have focused on tomato fruit detection methods, harvesting mechanisms, harvesting success rates, and harvesting times. However, tomato fruit harvestability using robots has not been quantitatively assessed. In this paper, we propose a method for evaluating the tomato fruit harvestability using a tomato harvesting robot. We first evaluated the harvestability qualitatively, based on the results of harvesting experiments conducted in a tomato greenhouse. Harvestability was then quantitatively evaluated using a camera (hereinafter referred to as a hand camera) attached to an end-effector of the tomato harvesting robot developed. The hand camera consists of an RGB camera and a depth camera. The occlusion ratio of obstacles (stems, peduncles, and other fruits) to a target fruit is calculated using the RGB image and depth image acquired by the hand camera. The larger the occlusion ratio was, i.e., the more obstacles there were in front of the target fruit, the more difficult the target fruit was to harvest. Conversely, if the occlusion ratio is low, the harvestability is high. This study shows that the occlusion ratio is effective as a quantitative indicator of the tomato fruit harvestability.