Development of an Experimental Strawberry Harvesting Robotic System

Dimitrios Klaoudatos, Vassilis Moulianitis, N. Aspragathos

Abstract

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.

Download


Paper Citation


in Harvard Style

Klaoudatos D., Moulianitis V. and Aspragathos N. (2019). Development of an Experimental Strawberry Harvesting Robotic System.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-380-3, pages 437-445. DOI: 10.5220/0007934004370445


in Bibtex Style

@conference{icinco19,
author={Dimitrios Klaoudatos and Vassilis Moulianitis and N. Aspragathos},
title={Development of an Experimental Strawberry Harvesting Robotic System},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2019},
pages={437-445},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007934004370445},
isbn={978-989-758-380-3},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Development of an Experimental Strawberry Harvesting Robotic System
SN - 978-989-758-380-3
AU - Klaoudatos D.
AU - Moulianitis V.
AU - Aspragathos N.
PY - 2019
SP - 437
EP - 445
DO - 10.5220/0007934004370445