Application of a computer vision system for recognizing tomato fruits and determining their position relative to the gripper device of the harvesting robot
2021 ◽
Vol 2091
(1)
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pp. 012063
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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.
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1983 ◽
Vol PAMI-5
(6)
◽
pp. 618-621
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1998 ◽
Vol 16
(8)
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pp. 533-539
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