Robotized Platform for Picking of Strawberry Berries

Abstract

Agricultural units technological capabilities utilization level optimization cannot be achieved without production processes wide automation and use of computer-controlled systems on the units. Study purpose is to develop an algorithm for recognizing the coordinates of the location and ripeness of strawberry in different lighting conditions and describe the technological process of their harvesting in the field using a robotic manipulator mounted on a self-propelled platform. As a research result, we developed a self-propelled platform with an automatic manipulator for harvesting strawberries, including a manipulator with six degrees of freedom, coaxial grip, servo drives, a controller, a computer vision camera, a single-board computer, laser sensors, a voltage regulator, a lithium-polymer battery. In programming language Python 3.7.2, an automatic manipulator control algorithm was developed. We concluded that in order to establish optimal operating modes and successful implementation of this technology, additional research is needed to fully optimize technology for a wide range of conditions in agricultural production of horticultural crops.