Camera Lens


Image Array


Figure 4.12. Horizontal field of view of the color CCD camera and lens combination in the
 vertical plane.





 8.8 mm Camera Lens




 28.8*

 28.8. Z4



 8 mm
 Image Array


Figure 4.13. Vertical field of view of the color CCD camera and lens combination in the
 horizontal plane.


picking mechanism. This signal was quantified by a counter-timer module in the control

computer.

 Lights. Four small flashlights were used as supplemental light sources. These lights

were needed to illuminate a targeted fruit as the arm was extended to the fruit and the picking

mechanism shaded the ambient light from the fruit. A pair of AA size flashlights were

secured on either side of the camera and powered by a separate 5 volt power supply.