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Department of Product and Systems Design Engineering, University of the Aegean, Ermoupolis, Syros, Greece, Mechanical Engineering and Aeronautics Department, University of Patras, Patra and Greece

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1 Papers

Development of an Experimental Strawberry Harvesting Robotic System

Topics: Image Processing; Engineering Applications on Robotics and Automation

Authors: Dimitrios Klaoudatos ¹ , Vassilis Moulianitis ² and N. Aspragathos ³

Affiliations: ¹ Department of Electrical and Computer Engineering, University of Patras, Patra and Greece , ² Department of Product and Systems Design Engineering, University of the Aegean, Ermoupolis, Syros, Greece, Mechanical Engineering and Aeronautics Department, University of Patras, Patra and Greece , ³ Mechanical Engineering and Aeronautics Department, University of Patras, Patra and Greece

Digital Object Identifier: 10.5220/0007934004370445

Proceedings of ICINCO 2019, ISBN: 978-989-758-380-3

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This paper presents the development of an integrated strawberry harvesting robotic system tested in lab conditions in order to contribute to the automation of strawberry harvesting. The developed system consists of three main subsystems; the vision system, the manipulator and the gripper. The procedure for the strawberry identification and localization based on vision is presented in detail. The performance of the robotic system is assessed by the results of experiments that take place in the lab and they are related to the recognition of occluded strawberries, the check of the strawberries for possible bruises after the grasping and the accuracy of detection of the strawberries’ location. The results show that the developed vision algorithm recognizes correctly every single strawberry and has high accuracy in recognizing occluded strawberries in which the largest part of each of them is visible. A small localization error results in a correct grasp and cut without causing damage to the fruit.

Related Ontology Subjects/Areas/Topics (3)

Image Processing

Informatics in Control, Automation and Robotics

Robotics and Automation