Application of a computer vision system for recognizing tomato fruits and determining their position relative to the gripper device of the harvesting robot
-
Published:2021-11-01
Issue:1
Volume:2091
Page:012063
-
ISSN:1742-6588
-
Container-title:Journal of Physics: Conference Series
-
language:
-
Short-container-title:J. Phys.: Conf. Ser.
Author:
Rybakov A.V.,Marenkov A.N.,Kuznetsova V.A.,Stanishevskaya A.V.
Abstract
Abstract
The article presents a method for recognizing tomato fruits covered with foliage, de-termining their centers and boundaries using the OpenCV computer vision library and a hardware complex based on Raspberry Pi 4. The methods for solving the inverse kinematics problem for the five-link robotic manipulator designed by the authors, installed on a mobile plat-form, in order to create a robot for collecting fruits are considered. The simulation of the manipulator movement in the Scilab environment is performed.
Subject
General Physics and Astronomy
Reference10 articles.
1. Proek-tirovanie robototekhnicheskih manipulyatorov s sistemoi komp’yuternogo zreniya dlya sbora tomatov;Rybakov;Design of robotic manipulators with a computer vision system for picking tomatoes] Prikaspiiskii zhurnal: upravlenie i vysokie tekhnologii,2020
2. Color image based sorter for separating red and white wheat;Pearson;Sensing and Instrumentation for Food Quality and Safety,2008
Cited by
1 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献
1. Robotic Grasping of Harvested Tomato Trusses Using Vision and Online Learning;2024 IEEE International Conference on Robotics and Automation (ICRA);2024-05-13