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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

ISBN: 978-989-758-380-3

ISSN: 2184-2809

Keyword(s): Agriculture Robotics, Harvesting Robot, Robot Vision, Robotic Gripper, Robot Operating System, Occluded Crops.

Related Ontology Subjects/Areas/Topics: Image Processing ; Informatics in Control, Automation and Robotics ; Robotics and Automation

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 t he fruit. (More)

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Paper citation in several formats:
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, ISSN 2184-2809, pages 437-445. DOI: 10.5220/0007934004370445

@conference{icinco19,
author={Dimitrios S. Klaoudatos. and Vassilis C. Moulianitis. and N. A. 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},
}

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

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