Application of a computer vision system for recognizing tomato fruits and determining their position relative to the gripper device of the harvesting robot

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 manipu...

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Bibliographic Details
Published in:Journal of physics. Conference series 2021-11, Vol.2091 (1), p.12063
Main Authors: Rybakov, A.V., Marenkov, A.N., Kuznetsova, V.A., Stanishevskaya, A.V.
Format: Article
Language:English
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Summary: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.
ISSN:1742-6588
1742-6596
DOI:10.1088/1742-6596/2091/1/012063