The most crucial problem of apple harvesting robot is to get the exact location and the maturity degree of the target. A system of apple maturity discrimination and positioning based on the multi-spectral technology and laser triangulation ranging principle is researched. Signal transmission, signal reception, signal processing, the CPU processing and several PC components are involved in the system. The distance between the apple and the device was calculated according to principle of triangulation. Ripe red apple, unripe green apple, stems and leaves have different reflectivity to red and infrared beam. The different ratio of red and infrared signal can be used to identify whether an apple is ripe. The threshold used to judge whether an apple is ripe is an experiential interval, which is acquired by several experiments.

Keywords

multi-spectral vision technology triangle ranging maturity of discrimination positioning nonlinear least square method 

References

  1. Ahmad, I.S. & J.F. Reid. 1996. Evaluation of Color Representations for Maize Images. Journal of Agricultural Engineering Research, 63(3):185-195.CrossRefGoogle Scholar
  2. D.M. Bulanon, T. Kataoka, S. Zhang. 2001. Optimal Thresholding for the Automatic Recognition of Apple Fruits. Transactions of the ASAE.Google Scholar
  3. Liu Weiming, Mao Hanping, Wang Xinzhong. Application of Multi-spectrum Reflectance Vision Technique for Harvesting Robot [J]. Agricultural Equipment & Technology, 2004, 30 (6):15-18.Google Scholar
  4. Pei Xiandeng, Luo Chun, Huang Ha. Research of high precision position measurement system and its design based on PSD. Huazhong Univ. of Sci. & Tech. (Nature Science Edition, 2004, 32 (2):7-9.Google Scholar
  5. Shigehiko Hayashi, Katsunobu Ganno, Yukitsugu Ishii, et al. Robotic harvesting system for eggplants [J]. JARQ, 2002, 36(3):163-168.CrossRefGoogle Scholar
  6. Van Henten E.J., Van Tuijl B.A.J., Hemming J. Field test of an autonomous cucumber picking robot [J]. Biosystems Engineering, 2003, 86(3):305-307.CrossRefGoogle Scholar
  7. Wang Xiaodong, Zhao Jie, Wu Wei. Measuring and Control of Laser Range Sensor Using PSD. Journal of Transducer Technology, 1995(5):37-38.Google Scholar

Copyright information

© IFIP International Federation for Information Processing 2008

Authors and Affiliations

  • He Bei
    • 1
  • Liu Gang
    • 1
  1. 1.Key Laboratory of Modern Precision Agriculture System Integration ResearchChina Agricultural UniversityChina

Personalised recommendations