Abstract
Saffron pistils are normally harvested by hand. As the amount of pistils obtained from one flower is very small, harvesting them a certain amount requires a hard task. In this paper, we discuss a system to automate harvesting saffron pistil using robot equipped with image processing unit. We introduce a mechanism and a task movement of the robot, and examine technique to detect cutting point and gripping point which are necessary for harvesting by image processing, and proposes a process to harvest based on it.
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