Sweet Pepper Harvesting Robot

Project Information

SWEEPER

Grant agreement ID: 644313

DOI 10.3030/644313

Project closed

EC signature date 8 December 2014

Start date 1 February 2015

End date 31 October 2018

Funded under

• INDUSTRIAL LEADERSHIP - Leadership in enabling and industrial technologies - Information and Communication Technologies (ICT)

Total cost € 4 345 912,49

EU contribution € 4 028 311,50

Coordinated by

STICHTING WAGENINGEN RESEARCH
Netherlands

Deliverables

Documents, reports (16)

Advanced software for fruit detection, localization and maturity
Final report on obstacle detection and localization algorithms
Demonstration of the optimized growing strategy adjusted for robotic harvesting
Effect of cultivation technique on crop openness and production
Report on final performance of developed harvesting robot
Report on evaluation results
Influence of harvesting method on sensitivity for plant diseases and fruit quality
Final report on fruit detection, localization and maturity algorithms
Specification of ROS messages between all software components
Report on evaluation methodologies
Enhancing crop openness by means of climate control
Determine crop-criterions
Report on basic fruit detection, localization and maturity algorithms
Report on test scenarios and definition performance measures
Selection of the most appropriate varieties for mechanical harvesting
Altering plant morphology by means of LED lighting

Other (13)

At least 8 oral presentations on scientific conferences
At least 5 submitted scientific papers to peer reviewed journal
Basic Routines for precise gripper control for manipulator
Basic software for fruit detection, localization and maturity
Extended and implemented software framework and GUI
Motion control routines for the manipulator and gripper
At least 10 papers in farmers magazines
Training session during SWEEPER workshop on the use of ROS and on the SWEEPER software framework
Advanced software for obstacle detection and localization algorithms
"Advanced software for fruit detection, localization and maturity, linked with results from WP6: optimized crop #1"
Specification of ROS messages between all basic software components
Motion planning and obstacle avoidance for manipulator
Basic Algorithms for obstacle detection and avoidance for the automated platform

Open Research Data Pilot (4)

"Image database #2 with different crop conditions available for analyses"
"Image databases #4 with different crop conditions (corresponding to WP6) available for analyses"
"Image databases #3 with different crop conditions (corresponding to WP6) available for analyses"
"Image database #1 with different crop conditions available for analyses (dependency on basic sensing hardware deliverable 2.5 in M6)"

"Image database #1 with different crop conditions available for analyses (dependency on basic sensing hardware deliverable 2.5 in M6)"

Demonstrators, pilots, prototypes (1)

Demonstrations to growers

Websites, patent fillings, videos etc. (2)

Presenting SWEEPER on 2 technical exhibitions
Dissemination section on SWEEPER website ready

Publications

Other (43)

I robot, your personal assistant scout

Author(s): Balendonck J.
Published in: KAS Automatisering, 2017, Page(s) 12-13
Publisher: TuinbouwCommunicatie

Robots en el invernadero

Author(s): Balendonck J.
Published in: Revista Alimentaria, Issue September, 2016, Page(s) 59
Publisher: Unknown

Belichting in paprika voorlopig niet aan de orde

Author(s): Van Herck L.
Published in: Proeftuinnieuws, Issue 9, 2017, Page(s) 8-9
Publisher: R. De Vis

Aangepaste teeltmaatregelen geven meer mechanisch oogstbare paprika's

Author(s): Van Herck L., Wittemans L.
Published in: Proeftuinnieuws, Issue 3, 2017, Page(s) 15-16
Publisher: R. De Vis

Plukrobots: The Last Frontier?

Author(s): Mulderij R.
Published in: AGF Primeur, Issue 2, 2015, Page(s) 40-41
Publisher: AGF Primeur B.V. Tholen

Artificial 3D pepper model for harvesting robot

Author(s): R. Barth
Published in: In Greenhouses : the international magazine for greenhouse growers, Issue 6 (3), 2017, Page(s) 47
Publisher: Horti-Text BV

Sweeper robot picks first peppers

Author(s): J. Balendonck
Published in: In Greenhouses : the international magazine for greenhouse growers, Issue 6 (2), 2017, Page(s) 37
Publisher: Horti-Text BV

Een oogstrobot in de paprikateelt begin 2018?

Author(s): Van Herck L., Wittemans L.
Published in: Proeftuinnieuws, Issue N°16, 2015, Page(s) 34
Publisher: R. De Vis

Hoe veilig is de kas van de toekomst?

Author(s): Balendonck J.
Published in: Kas, Issue July, 2016, Page(s) 10-13
Publisher: TuinbouwCommunicatie

Hightech-Zentrum Bauernhof

Author(s): Fossgreen, A.
Published in: Landwirtschaft Hightech, sonntagszeitung, 2015
Publisher: unknown

World's first pepper-picking robot heralds new era.

Author(s): Gorvett, Z.
Published in: Horizon, The EU Research & Innovation Magazine, 2015
Publisher: unknown

Cross-over between high-tech and agri- & horticulture

Author(s): H. Van Eerden
Published in: Mikroniek, Issue 6, 2017, Page(s) 5-9
Publisher: Unknonwn

Robot plukt richting praktijkrijpheid

Author(s): Unknown
Published in: Nieuwe Oogst, Issue June, 2016, Page(s) 18-19
Publisher: AgriPers

Sweeper robot plukt eerste paprika

Author(s): J. Balendonck
Published in: Onder Glas, Issue 14 (1), 2017, Page(s) 53
Publisher: Horti-Text BV

Kunstmatig 3D model paprika voor oogstrobot

Author(s): R. Barth
Published in: Onder Glas, Issue 3, 2017, Page(s) 39
Publisher: Horti-Text BV

Pepper robot harvester edges closer to commercialization

Author(s): CORDIS
Published in: 2017
Publisher: Unknown

Pepper bot

Author(s): C. Oberst
Published in: The SNACK, Issue 12, 2015, Page(s) 27-29
Publisher: Unknown

Sweeper-robot oogst zelfstandig paprika's

Author(s): P. Visser
Published in: Groenten&Fruit, Issue 20, 2018, Page(s) 28-29
Publisher: Proagrica

Paprika’s oogsten met een robot

Author(s): J. Van Bavel
Published in: Boer&Tuinder, Issue 28, 2018, Page(s) 32
Publisher: unknown

Sweeper-Roboter erntet gelbe Paprika

Author(s): unknown
Published in: Profiplus, Issue 8-2018, 2018
Publisher: unknown

Pepper-picking robot demonstrates its skills in greenhouse labour automation

Author(s): unknown
Published in: CORDIS, 2018
Publisher: unknown

Wereldprimeur: oogstrobot paprika aan de slag op proefstation

Author(s): K. Blum
Published in: Proeftuinnieuws, Issue 17, 2018, Page(s) 9-11
Publisher: R. De Vis

Mens moet paprikaplukrobot nog handje helpen

Author(s): Hanneke De Jonge
Published in: Nieuwe Oogst, 2018
Publisher: unknown

Sweeper project website

Author(s): J. Hemming
Published in: 2015
Publisher: Wageningen Research

Maak kennis met de paprikarobot

Author(s): unknown
Published in: BNR, Issue 15/08/2016, 2016
Publisher: unknown

Eerste paprikaplukrobot kiest alleen rijpe exemplaren

Author(s): unknown
Published in: Gazet Van Antwerpen, Issue 12/09/2018, 2018
Publisher: Mediahuis

Proefstation in Katelijne ontwikkelt paprikaplukrobot

Author(s): unknown
Published in: RTV, Issue 12/09/2018, 2018
Publisher: unknown

De robot plukt nu ook paprika's in de kas

Author(s): unknown
Published in: De Stentor, Issue 17/07/2018, 2018
Publisher: Persgroep Nederland BV / AD

Paprikarobot

Author(s): unknown
Published in: De Telegraaf, Issue 28/02/2016, 2016
Publisher: De Telegraaf Media Groep

Aspergerobot stuurt steker straks naar huis

Author(s): unknown
Published in: De Volkskrant, Issue 24/04/2017, 2017
Publisher: Persgroep Nederland BV / AD

Paprikakweker uit Koekoekspolder spil in ontwikkeling van plukrobot

Author(s): unknown
Published in: De Stentor, Issue 06/02/2016, 2016
Publisher: Persgroep Nederland BV / AD

Wetenschappers bouwen oogstrobot voor paprika's

Author(s): unknown
Published in: AD Haagse Courant, Issue 05/02/2015, 2015
Publisher: Persgroep Nederland BV / AD

Eerste paprikaplukrobot in ons land voorgesteld

Author(s): unknown
Published in: Het Nieuwsblad, Issue 12/09/2018, 2018
Publisher: Mediahuis

Guided tour sweet pepper committee

Author(s): L. Van Herck
Published in: Issue 28/03/2017, 2017
Publisher: unknown

Generatief paprika's telen onder belichting: een uitdaging

Author(s): L. Van Herck
Published in: "Symposium ""Van licht naar gewicht""", Issue 17/01/2017, 2017
Publisher: unknown

CROPS: Clever Robots for CROPS

Author(s): J. Bontsema
Published in: Precision Farming Expo 2015, Issue 18/03/2015, 2015
Publisher: unknown

Algorithms and Analysis of Sweet-Pepper Color Estimation

Author(s): Harel, B., Kurtser, P., Van Herck, L., Parmet, Y., Edan, Y.
Published in: ABC Sensing: from minds to machines, Issue 29 May-1 June 2016, 2016
Publisher: unknown

Viewpoints analyses for sweet pepper detection

Author(s): P. Kurtser and Y. Edan
Published in: ABC Sensing: from minds to machines, Issue 29 May-1 June 2016, 2016
Publisher: unknown

“Oog-in-hand” coördinatie voor het oogsten van paprika’s met de SWEEPER robot

Author(s): Balendonck, J., Barth, R., Hemming, J., van Tuijl, B., Tielen, T., Raaphorst, M.
Published in: Agro Food Robotics beur, Issue 13-14/12/2017, 2017
Publisher: unknown

Sweet Pepper Harvesting Robot

Author(s): Y. Edan
Published in: ICR2016, Issue 13/04/2016, 2016
Publisher: unknown

Optimising Realism of Synthetic Agricultural Images using Cycle Generative Adversarial Networks

Author(s): Barth, R., IJsselmuiden, J.M.M., Hemming, J., van Henten, E.J.
Published in: ROS 2017, Issue 24-28/09/2017, 2017
Publisher: unknown

Sweet Pepper Harvesting Robot

Author(s): Y. Edan
Published in: IROS, Issue 28/09/2015, 2015
Publisher: unknown

Oogstrobot voor paprika dichterbij dan je denkt

Author(s): Van Herck L., Wittemans L.
Published in: Management&Techniek, Issue No. 2, 2016, Page(s) 48-49
Publisher: Boerenbond

Peer reviewed articles (6)

Data synthesis methods for semantic segmentation in agriculture: A Capsicum annuum dataset

Author(s): R. Barth, J. IJsselmuiden, J. Hemming, E.J. Van Henten
Published in: Computers and Electronics in Agriculture, Issue 144, 2018, Page(s) 284-296, ISSN 0168-1699
Publisher: Elsevier BV
DOI: 10.1016/j.compag.2017.12.001

Synthetic bootstrapping of convolutional neural networks for semantic plant part segmentation

Author(s): R. Barth, J. IJsselmuiden, J. Hemming, E.J. Van Henten
Published in: Computers and Electronics in Agriculture, 2017, ISSN 0168-1699
Publisher: Elsevier BV
DOI: 10.1016/j.compag.2017.11.040

Adaptive Image Thresholding of Yellow Peppers for a Harvesting Robot

Author(s): Ostovar, A.; Ringdahl, O.; Hellström, T.
Published in: Robotics, Issue 7/1, 2018, Page(s) 11, ISSN 2218-6581
Publisher: Unknown
DOI: 10.3390/robotics7010011

Evaluation of approach strategies for harvesting robots: Case study of sweet pepper harvesting

Author(s): Ola Ringdahl, Polina Kurtser, Yael Edan
Published in: Journal of Intelligent & Robotic Systems, 2018, ISSN 0921-0296
Publisher: Kluwer Academic Publishers
DOI: 10.1007/s10846-018-0892-7

Statistical models for fruit detectability: spatial and temporal analyses of sweet peppers

Author(s): Polina Kurtser, Yael Edan
Published in: Biosystems Engineering, Issue 171, 2018, Page(s) 272-289, ISSN 1537-5110
Publisher: Academic Press
DOI: 10.1016/j.biosystemseng.2018.04.017

Design of an eye-in-hand sensing and servo control framework for harvesting robotics in dense vegetation

Author(s): Ruud Barth, Jochen Hemming, Eldert J. van Henten
Published in: Biosystems Engineering, Issue monthly, 2016, Page(s) not yet finally published, ISSN 1537-5110
Publisher: Academic Press
DOI: 10.1016/j.biosystemseng.2015.12.001

Conference proceedings (17)

Optimising Realism of Synthetic Agricultural Images using Cycle Generative Adversarial Networks

Author(s): Barth, R. ; IJsselmuiden, J.M.M. ; Hemming, J. ; van Henten, E.J.
Published in: Proceedings of the IEEE IROS workshop on Agricultural Robotics, 2017, Page(s) 18-22
Publisher: Unknown
DOI: 10.18174/434834

Strategies for Selecting Best Approach Direction for a Sweet-Pepper Harvesting Robot

Author(s): Ola Ringdahl, Polina Kurtser, Yael Edan
Published in: Towards Autonomous Robotic Systems: 18th Annual Conference, TAROS 2017, Guildford, UK, July 19–21, 2017, Proceedings, 2017, Page(s) 516-525
Publisher: Springer International Publishing
DOI: 10.1007/978-3-319-64107-2_41

Second Annual AgRA TC Lightning Round

Author(s): G. Polder
Published in: IEEE, webinar, Issue 21/01/2016, 2016
Publisher: unknown

Robotic Data Acquisition of Sweet Pepper Images for Research and Development

Author(s): Kurtser, P., Arad, B., Ben Shahar, O., van Bree, M., Moonen, J., van Tujil, B., Edan, Y.
Published in: ICR2016, Issue 13/04/2016, 2016
Publisher: unknown

Will robotics take horticulture production to the next level?

Author(s): J. Hemming
Published in: Indoor Ag-Con conference, Issue 15/10/2015, 2015
Publisher: unknown

Sweet Pepper Harvesting Robot

Author(s): J. Bontsema
Published in: EU Robotics Forum, Issue 11-13/03/2015, 2015
Publisher: unknown

Robotics and mobile detection systems for high-tech greenhouse production

Author(s): J. Balendonck
Published in: GreenTech 2018, Issue 12-14/06/2018, 2018
Publisher: unknown

Robotics, automation and ICT solutions for profitable greenhouse business

Author(s): J. Hemming
Published in: Netherlands-Japan Horticulture Seminar, Agro Innovation Fair, Issue 05/10/2017, 2017
Publisher: unknown

Harvesting Sequence Optimization Under Partial Initial Information

Author(s): P. Kurtser
Published in: POMS2017, Issue 27-29/06/2017, 2017
Publisher: unknown

Growing generative peppers + LED: Challenge

Author(s): L. Van Herck
Published in: Horticultural Lighting Conference, Issue 23/05/2017, 2017
Publisher: unknown

Robotereinsatz zur automatischen Ernte von Paprika

Author(s): J. Hemming
Published in: KTBL-Tagung Robotics und Automatisierung im Gartenbau, Issue 17-18/09/2018, 2018
Publisher: unknown

Dynamic viewpoints for autonomous pepper harvesting robot

Author(s): P. Kurtser
Published in: IROS 2018, Issue 1-5/10/2018, 2018
Publisher: unknown

Operational flow of an autonomous sweet pepper harvesting robot

Author(s): Ringdahl, O., Kurtser, P., Barth, R., Edan, Y.
Published in: ICR2016, Issue 13/04/2016, 2016
Publisher: unknown

A software framework for agricultural robotics using ROS

Author(s): O. Ringdahl
Published in: Issue 04/04/2016, 2016
Publisher: unknown

A Sweet Pepper Robotic Harvester

Author(s): J. Balendonck
Published in: EU - Digitising agriculture and food value chains, Issue 17/11/2017, 2017
Publisher: unknown

SWEEPER - De paprikaplukrobot (in Dutch)

Author(s): J. Balendonck
Published in: Machinebouw Event 2018, Issue 6-12-2018, 2018, Page(s) 28
Publisher: FHI - Federatie van Technologiebranches

The SWEEPER-robot. Hands-free Production in High-Tech Greenhouses

Author(s): J. Balendonck
Published in: AgriFoodTech, Den Bosch (The Netherlands), Issue 13 December 2018, 2018, Page(s) 28
Publisher: AgriFoodTech Vakbeurs & Congres

Thesis and dissertations (2)

Vision principles for harvest robotics : sowing artificial intelligence in agriculture

Author(s): Ruud Barth
Published in: 2018, ISBN 978-94-6343-318-1
Publisher: Wageningen University
DOI: 10.18174/456019

Adaptive Sensing and Task Planning for an Autonomous Harvesting Robot

Author(s): Kurtser, P (2018).
Published in: Issue Submitted on 18 October 2018, 2019
Publisher: Ben Gurion University