This paper presents the development, testing and validation of SWEEPER, a robot for harvesting sweet pepper fruit in greenhouses. The robotic system includes a six degrees of freedom industrial arm equipped with a specially designed end effector, RGB‐D camera, high‐end computer with graphics processing unit, programmable logic controllers, other electronic equipment, and a small container to store harvested fruit. All is mounted on a cart that autonomously drives on pipe rails and concrete floor in the end‐user environment. The overall operation of the harvesting robot is described along with details of the algorithms for fruit detection and localization, grasp pose estimation, and motion control. The main contributions of this paper are the integrated system design and its validation and extensive field testing in a commercial greenhouse for different varieties and growing conditions. A total of 262 fruits were involved in a 4‐week long testing period. The average cycle time to harvest a fruit was 24 s. Logistics took approximately 50% of this time (7.8 s for discharge of fruit and 4.7 s for platform movements). Laboratory experiments have proven that the cycle time can be reduced to 15 s by running the robot manipulator at a higher speed. The harvest success rates were 61% for the best fit crop conditions and 18% in current crop conditions. This reveals the importance of finding the best fit crop conditions and crop varieties for successful robotic harvesting. The SWEEPER robot is the first sweet pepper harvesting robot to demonstrate this kind of performance in a commercial greenhouse.

Crop irrigation uses more than 70% of the world’s water, and thus, improving irrigation efficiency is decisive to sustain the food demand from a fast-growing world population. This objective may be accomplished by cultivating more water-efficient crop species and/or through the application of efficient irrigation systems, which includes the implementation of a suitable method for precise scheduling. At the farm level, irrigation is generally scheduled based on the grower’s experience or on the determination of soil water balance (weather-based method). An alternative approach entails the measurement of soil water status. Expensive and sophisticated root zone sensors (RZS), such as neutron probes, are available for the use of soil and plant scientists, while cheap and practical devices are needed for irrigation management in commercial crops. The paper illustrates the main features of RZS’ (for both soil moisture and salinity) marketed for the irrigation industry and discusses how such sensors may be integrated in a wireless network for computer-controlled irrigation and used for innovative irrigation strategies, such as deficit or dual-water irrigation. The paper also consider the main results of recent or current research works conducted by the authors in Tuscany (Italy) on the irrigation management of container-grown ornamental plants, which is an important agricultural sector in Italy.

For robotic harvesting of sweet-pepper fruits in greenhouses a sensor system is required to detect and localize the fruits on the plants. Due to the complex structure of the plant, most fruits are (partially) occluded when an image is taken from one viewpoint only. In this research the effect of multiple camera positions and viewing angles on fruit visibility and detectability was investigated. A recording device was built which allowed to place the camera under different azimuth and zenith angles and to move the camera horizontally along the crop row. Fourteen camera positions were chosen and the fruit visibility in the recorded images was manually determined for each position. For images taken from one position only with the criterion of maximum 50% occlusion per fruit, the fruit detectability (FD) was in no case higher than 69%. The best single positions were the front views and looking with a zenith angle of 60° upwards. The FD increased when a combination was made of multiple viewpoint positions. With a combination of five favourite positions the maximum FD was 90%.

ISHS III International Symposium on Models for Plant Growth, Environmental Control and Farm Management in Protected Cultivation (HortiModel 2006) TOWARD AN OPTIMAL CONTROL STRATEGY FOR SWEET PEPPER CULTIVATION - 1. A DYNAMIC CROP MODEL