![]() Grasping disturbance: Currently, almost all peppers that are cut, will drop into the finger-type catching device. In future we expect that a crop variety will be bred that will have a better pepper visibility. We call this modification the “modified crop”. For this reason, performing some leaf picking before harvest increases the harvest success rate. Image disturbance: The prototype will not see or harvest the pepper and move on to the next detected pepper. What happens if leaves disturb the image or the grasping? Even though this was not tested, we expect this to be a viable solution with the developed knowledge in the project. To be able to let the robot harvest green peppers, the detection routines must be adapted to detect green peppers in the green crop by using deep-learning image analysis techniques or special hardware like multispectral cameras, for example. However, the robot was not tested to do this. In principle, the robot can harvest peppers of different colours (red, orange) by simply adjusting the target colour in the detection algorithms. Is it possible to harvest differently coloured fruit with this robot?ĭuring the project we harvested yellow peppers for practical reasons: the grower that took part in the project (De Tuindershoek) grows yellow peppers only. More information about this can be found in the public deliverable D5.6 (see Cordis SWEEPER project EU website). ![]() If the bottom part of the pepper is mature, it is most likely that the whole sweet pepper is mature. Pepper fruits are observed from slightly below.
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