| Issue |
E3S Web Conf.
Volume 193, 2020
International Conference on Modern Trends in Manufacturing Technologies and Equipment (ICMTMTE 2020)
|
|
|---|---|---|
| Article Number | 01045 | |
| Number of page(s) | 8 | |
| Section | Agricultural Science | |
| DOI | https://doi.org/10.1051/e3sconf/202019301045 | |
| Published online | 08 October 2020 | |
Device for robotic picking of strawberries
Federal Scientific Agroengineering Center VIM, 1-st Institutsky proezd, 5, Moscow, 109428, Russia
* Corresponding author: alexeykutyrev@gmail.com
The article presents a device for collecting strawberry berries, presents a 3D model of an automated manipulator with a computer vision system. The overall dimensions of the manipulator (WxDxH), mm - 200x700x600, the number of degrees of freedom - 6, load capacity - 1 kg, the maximum effort to detach fruits and berries - 10-80 N. An algorithm for the operation of a computer vision system for determining the boundaries of berries and their ripeness based on size factor. The results of field experiments, measuring the area of berries of wild strawberries at different times of the day are given. It was established that the lighting conditions have a significant effect on the detection of the boundaries and area of garden strawberries, and their ripeness.
© The Authors, published by EDP Sciences, 2020
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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