Development of Monitoring Robot System for Tomato Fruits in Hydroponic Greenhouses
Abstract
:1. Introduction
2. System Configuration
3. Detection and Classification System
3.1. Tomato Detection
3.1.1. Dataset and Training
3.1.2. Postprocess
3.2. Maturity Classification
3.2.1. Maturity
3.2.2. Image Acquisition and RGB Channels
3.2.3. Color Space Analysis
4. Field Test and Results
5. Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
References
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Maturity | Description | |
---|---|---|
Green | Entirely green | |
Breakers | First appearance of external pink or red color; not more than 10% | |
Turning | Over 10% but not more than 30% red or pink | |
Pink | Over 30% but not more than 60% pinkish or red | |
Light Red | Over 60% but not more than 90% red | |
Red | Over 90% red |
Brightness (Accumulated Temperature) | 37.82 (982.0 °C·Day) | 68.92 (1115.1 °C·Day) | 131.50 (1066.6 °C·Day) | Standard Deviation |
---|---|---|---|---|
Red | 8.45 | 26.75 | 70.95 | 26.24 |
Green | 27.53 | 49.80 | 119.88 | 39.35 |
Blue | 78.02 | 144.80 | 233.1 | 63.51 |
Hue | 11.18 | 8.28 | 10.475 | 1.23 |
Saturation | 223.90 | 205.13 | 175.23 | 20.04 |
Value | 78.45 | 145.23 | 233.33 | 63.43 |
L * | 46.08 | 90.43 | 162.00 | 47.76 |
a * | 149.53 | 165.13 | 167.38 | 7.94 |
b * | 150.68 | 163.40 | 174.80 | 9.85 |
Inference Time | 0.16 s |
Maturity classification time | 0.003 s |
Total processing time | 0.18 s (FPS up to 5.5) |
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Seo, D.; Cho, B.-H.; Kim, K.-C. Development of Monitoring Robot System for Tomato Fruits in Hydroponic Greenhouses. Agronomy 2021, 11, 2211. https://doi.org/10.3390/agronomy11112211
Seo D, Cho B-H, Kim K-C. Development of Monitoring Robot System for Tomato Fruits in Hydroponic Greenhouses. Agronomy. 2021; 11(11):2211. https://doi.org/10.3390/agronomy11112211
Chicago/Turabian StyleSeo, Dasom, Byeong-Hyo Cho, and Kyoung-Chul Kim. 2021. "Development of Monitoring Robot System for Tomato Fruits in Hydroponic Greenhouses" Agronomy 11, no. 11: 2211. https://doi.org/10.3390/agronomy11112211