A Vision System to Efficiently Harvest Fruits Which Grow in Clusters
Vizuelni sistem za ubiranje plodova koji rastu u grozdovima

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Author
Tarrío, Paula
Bernardos, Ana
Casar, Jose
Portillo, Javier
Keywords
harvestingfruit
robot
greenhouses
ubiranje
voće
vizuelni sistem
robot
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Show full item recordAbstract
Automatic fruit harvesting systems usually come up against some difficulties
because of the environment in which they operate. In this paper, we will consider the
problem of distinguishing individual fruits which grow in bunches or clusters. A cluster
may contain fruits with similar color and texture, what makes them appear in the image
as a unique uniform region. Therefore, it is not easy to distinguish the individual fruits
using traditional detection methods. We propose a new vision system composed of two
stereoscopic cameras and a matrix of laser diodes that is able to distinguish fruits that
grow in bunches. A prototype of a harvesting robot based on it has been developed and
tested with real strawberry crops in hydroponic greenhouses. Some examples of these
experiments are included. Primena automatskih sistema za ubiranje voća obično nailazi na teškoće
obziorm na okolinu u kojoj rade. U ovom radu razmatran je problem identifikacije
pojedinačnih plodova koji se razvijaju u grupi plodova. Skupovi plodova mogu da sadrže
u sebi plodove slične boje i teksture što dovodi do toga da se na slici pojave kao
uniformna jedinstvena oblast. Iz toga razloga nije jednostovano identifikovati
pojedinačne plodove upotrebom uobičajenih metodama. U radu je dat predlog novog
vizuelnog sistema koga čini dve steroskopske kamere i matrične laserske diode koje
mogu da razdvoje plodove koji rastu u skupu. Na osnovu ovog sistema napravljen je
prototip robota za ubiranje koji je ispitan u ubiranju jagode gajene u zaštićenom
prostoru, u hidroponskom sistemu. Prikazani su neki primeri iz ovog eksperimenta.