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In greenhouse production, computer support systems are being introduced to control the environmental conditions for automation. Furthermore, many robots were studied for automation in agricultural fields. Harvesting robots have been studied in particular. For the automatic robot control, the recognizing system for the positions of fruits and flowers is important. In our laboratory, a 3-dimensional visual sensor system was developed to recognize the direction of strawberry fruit.To support the movement of the gantry system, a database considering daily changes in the fruit growth has been constructed. This database contains flowers, white unripe fruits, green unripe fruits, mature fruits, however, maturity step, fruit shape, color and 3D coordinates, therefore it can perform shipment predictions.The previous system could not recognize very small fruits were colored white and green. Using the HSI color model (hue, saturation, intensity), it is possible that very small fruits can be successfully recognized.In this paper, we developed flower and fruit database to determined these small fruits. We also made a recognition system for flowers and small fruits.Thus, the database developed here enables us to plan for harvesting fruits by robot, and would be an effective increase in the operational efficiency of harvesting.

Development of Harvesting Support Database Based on Image Recognition Discrimination of Each Step of Maturity by HSI.