Harvesting Robot
Artist Impression
Sweet-pepper crop
in the greenhouse

Collecting image data to improve algorithms

 

In the last week of March 2017 the Sweeper team has performed tests with advanced colour and 3d cameras on their harvesting robot in the greenhouse of partner Research Station for Vegetable Production at Sint Katelijne-Waver in Belgium. The data of the tests will be used for improving the vision algorithms for detecting ripe fruits and approach path of the robot.

Data was gathered which will be used to improve the maturity detection and increase the robustness of it. Furthermore, a field test has been performed to improve reachability. This means how the robot should approach the fruit to reach it without harming the crop. Improvements will be implemented and in summer new harversting field tests are scheduled to be carried out at De Tuindershoek.

 Robot in greenhouse PSKW

 

Visual servo control experiments

 

Earlier this year visual servo control experiments were carrried out on artificial sweet pepper plantsin the laboratories of the University of Umeå in Sweden to investigate the effect of choosing different approaching directions on harvesting times. The value of ideal information regarding the best approach direction with least occlusion from obstacles was evaluated by comparing it to a method attempting several directions until successful harvesting is performed. The results of the experiments will be presented at the TAROS 2017 conference in July.

In this video the robot is trying different approaching directions using visual servo control to locate and move towards the fruits as soon as they are not blocked by leaves.

 

 sweeper apoproach screenshot