The sliding mode control algorithm based on grey prediction theory is proposed in this study, aiming at the uncertainties in the servo system of fruit harvesting robot and the external disturbances that may affect the control quality of conventional sliding mode control algorithm. The proposed algorithm uses the grey theory ability to unknown information data to establish the grey model to the ...

This paper proposes the development of an automatic fruit harvesting system by combining a low cost stereovision camera and a robotic arm placed in the gripper tool. The stereovision camera is used to estimate the size, distance and position of the fruits whereas the robotic arm is used to mechanically pickup the fruits. The low cost stereovision system has been tested in laboratory conditions ...

This paper describes the concept of an autonomous robot for harvesting cucumbers in greenhouses. A description is given of the working environment of the robot and the logistics of harvesting. It is stated that for a 2 ha Dutch nursery, 4 harvesting robots and one docking station are needed during the peak season. Based on these preliminaries, the design specifications of the harvest robot are ...

abstract having no exact knowledge of most appropriate harvesting time in kiwifruit grown in different regions of guilan province, as well as the low storage longevity of the fruits are the most important factors causing considerable reduction in both marketability and export affairs. in this study, the influence of fruit quality in term of harvesting time on the postharvest quality and food va...

Detailed Accomplishments in 2008-09: Processors are concerned about peel integrity of CMNP-treated fruit. We conducted 2 trials in March and April with Valencia oranges to determine the postharvest effect of CMNP applied to canopies for the purpose of loosening fruit on fruit crush force, peel puncture resistance, and peel puncture depth. Fruit were collected during our harvesting trial studies...

In this paper, a cooperative visual servo controller is presented for autonomous citrus harvesting. A fixed camera provides a global view of a tree canopy for the camera-in-hand, attached to the end-effector, to servo to a target fruit. The paper focuses on the development of a robust, image-based, nonlinear visual servo controller to regulate the end-effector to the fruit location in the prese...

abstract the harvesting time and storage conditions of olive fruit are effective factors on the quality and quantity of oil. the harvesting time of olive is different in each area and it depends on climatic conditions.this investigation was carried out to assess the impact of harvesting time on olive oil quality and quantity frome two olive varieties cultivated in gorgan region. for this reason...

One of the requirements of a fruit harvesting robot is the ability to recognize and locate fruit from the leaf and branch portions; machine vision system is one of the methods used to detect the location of the fruit. This paper showed the development of a machine vision algorithm that would guide an apple harvesting hand prototype. The objectives of this study were to differentiate the fruit f...

In this present paper, a new counting algorithm for tangerine yield estimation is adapted to obtain better results with respect to partially / semi partially occluded tangerine and its clusters. To optimize tangerine counting, and to minimize typical background noises from orchards (i.e. bare soil, weeds, and man-made objects), a tangerine fruit counting algorithm is implemented, and compared b...