光電センサによる農作物の形状認識

A photoelectric sensor which detected the solid shape of agricultural crop was made by trial for the sensor of the agricultural robot and fundamental experiment was done. The location of the crop was detected by means of an active rangefinder. Thelight from the projector was deflected by the mirrors which were attached to the shafts of scanning motors. The reflected light from the crop surface returned to the photo-detector after reflecting at the deflecting mirrors. The location of the crop was calculated by the rotating angles of the scanning motors. A red light(wavelength : 660nm) and a near-infrared light(wavelength : 935nm) were emitted from two light emitting diodes. The detecting experiment of Mandarin Orange was done. The shape of the fruit and the leaves could be detected and the fruit could be distinguished from leaves by the difference of the reflecting characteristics between these lights.