Harvester and Collector Bot Based Harvesting

System
Project Presentation

Sridhatta Jayaram Aithal, Sanket Navarkar, Gaurav Mishra,

Rohan Gauda

B.E. Electronics and Telecommunication

A. C. Patil College of Engineering

15th February 2019

1
 CONTENTS

• INTRODUCTION
• LITERATURE SURVEY PAPER 1
• LITERATURE SURVEY PAPER 2
• LITERATURE SURVEY PAPER 3
• MOTIVATION
• OBJECTIVE
• BLOCK DIAGRAM
• CONCLUSION
• REFERENCES

Sridhatta Jayaram Aithal, Sanket Navarkar, Gaurav Mishra, Rohan Gauda

Harvester and Collector Bot Based Harvesting System
 INTRODUCTION
1 In agriculture, smart farming and automated agricultural
technology have emerged as promising methodologies for
increasing the crop productivity without sacrificing product
quality.
2 The emergence of various robotics technologies has facilitated
the application of these techniques in agricultural processes.
However, incorporating this technology in farms has proven to
be challenging because of the large variations in shape, size,
rate and type of growth, type of produce, and environmental
requirements for different types of crops.
3 Agricultural processes are chains of systematic, repetitive, and
time-dependent tasks. However, some agricultural processes
differ based on the type of farming, namely permanent crop
farming and arable farming. Permanent crop farming includes
permanent crops or woody plants such as orchards and
vineyards whereas arable farming includes temporary crops
such as wheat and rice. 1

Sridhatta Jayaram Aithal, Sanket Navarkar, Gaurav Mishra, Rohan Gauda

Harvester and Collector Bot Based Harvesting System
 INTRODUCTION
1 In agriculture, smart farming and automated agricultural
technology have emerged as promising methodologies for
increasing the crop productivity without sacrificing product
quality.
2 The emergence of various robotics technologies has facilitated
the application of these techniques in agricultural processes.
However, incorporating this technology in farms has proven to
be challenging because of the large variations in shape, size,
rate and type of growth, type of produce, and environmental
requirements for different types of crops.
3 Agricultural processes are chains of systematic, repetitive, and
time-dependent tasks. However, some agricultural processes
differ based on the type of farming, namely permanent crop
farming and arable farming. Permanent crop farming includes
permanent crops or woody plants such as orchards and
vineyards whereas arable farming includes temporary crops
such as wheat and rice. 1

Sridhatta Jayaram Aithal, Sanket Navarkar, Gaurav Mishra, Rohan Gauda

Harvester and Collector Bot Based Harvesting System
 INTRODUCTION
1 In agriculture, smart farming and automated agricultural
technology have emerged as promising methodologies for
increasing the crop productivity without sacrificing product
quality.
2 The emergence of various robotics technologies has facilitated
the application of these techniques in agricultural processes.
However, incorporating this technology in farms has proven to
be challenging because of the large variations in shape, size,
rate and type of growth, type of produce, and environmental
requirements for different types of crops.
3 Agricultural processes are chains of systematic, repetitive, and
time-dependent tasks. However, some agricultural processes
differ based on the type of farming, namely permanent crop
farming and arable farming. Permanent crop farming includes
permanent crops or woody plants such as orchards and
vineyards whereas arable farming includes temporary crops
such as wheat and rice. 1

Sridhatta Jayaram Aithal, Sanket Navarkar, Gaurav Mishra, Rohan Gauda

Harvester and Collector Bot Based Harvesting System
 INTRODUCTION
1 In agriculture, smart farming and automated agricultural
technology have emerged as promising methodologies for
increasing the crop productivity without sacrificing product
quality.
2 The emergence of various robotics technologies has facilitated
the application of these techniques in agricultural processes.
However, incorporating this technology in farms has proven to
be challenging because of the large variations in shape, size,
rate and type of growth, type of produce, and environmental
requirements for different types of crops.
3 Agricultural processes are chains of systematic, repetitive, and
time-dependent tasks. However, some agricultural processes
differ based on the type of farming, namely permanent crop
farming and arable farming. Permanent crop farming includes
permanent crops or woody plants such as orchards and
vineyards whereas arable farming includes temporary crops
such as wheat and rice. 1

Sridhatta Jayaram Aithal, Sanket Navarkar, Gaurav Mishra, Rohan Gauda

Harvester and Collector Bot Based Harvesting System
 INTRODUCTION
1 The Harvesting system comprises of two robots namely
Harvester robot and Collector robot.
2 They are installed inside a farm with guided tracks or black
line or white line to constitute a whole arena on which the
robot follows it to reach the specific fruit tree to reach the
goal.
3 The robots are autonomous i.e., it is capable of determining
the path to the specific tree itself.
4 In this arena constitutes of two robots Harvester robot and
Collector robot both these robot are connected to each other
wirelessly.
5 The Harvester robot uses image processing to identify the
fruits, using image processing the robot is capable of
identifying the difference between the ripe ,unripe and
overripe fruits, it can also takes the count and determine the
size of the fruit. 1

Sridhatta Jayaram Aithal, Sanket Navarkar, Gaurav Mishra, Rohan Gauda

Harvester and Collector Bot Based Harvesting System
 INTRODUCTION
1 The Harvesting system comprises of two robots namely
Harvester robot and Collector robot.
2 They are installed inside a farm with guided tracks or black
line or white line to constitute a whole arena on which the
robot follows it to reach the specific fruit tree to reach the
goal.
3 The robots are autonomous i.e., it is capable of determining
the path to the specific tree itself.
4 In this arena constitutes of two robots Harvester robot and
Collector robot both these robot are connected to each other
wirelessly.
5 The Harvester robot uses image processing to identify the
fruits, using image processing the robot is capable of
identifying the difference between the ripe ,unripe and
overripe fruits, it can also takes the count and determine the
size of the fruit. 1

Sridhatta Jayaram Aithal, Sanket Navarkar, Gaurav Mishra, Rohan Gauda

Harvester and Collector Bot Based Harvesting System
 INTRODUCTION
1 The Harvesting system comprises of two robots namely
Harvester robot and Collector robot.
2 They are installed inside a farm with guided tracks or black
line or white line to constitute a whole arena on which the
robot follows it to reach the specific fruit tree to reach the
goal.
3 The robots are autonomous i.e., it is capable of determining
the path to the specific tree itself.
4 In this arena constitutes of two robots Harvester robot and
Collector robot both these robot are connected to each other
wirelessly.
5 The Harvester robot uses image processing to identify the
fruits, using image processing the robot is capable of
identifying the difference between the ripe ,unripe and
overripe fruits, it can also takes the count and determine the
size of the fruit. 1

Sridhatta Jayaram Aithal, Sanket Navarkar, Gaurav Mishra, Rohan Gauda

Harvester and Collector Bot Based Harvesting System
 INTRODUCTION
1 The Harvesting system comprises of two robots namely
Harvester robot and Collector robot.
2 They are installed inside a farm with guided tracks or black
line or white line to constitute a whole arena on which the
robot follows it to reach the specific fruit tree to reach the
goal.
3 The robots are autonomous i.e., it is capable of determining
the path to the specific tree itself.
4 In this arena constitutes of two robots Harvester robot and
Collector robot both these robot are connected to each other
wirelessly.
5 The Harvester robot uses image processing to identify the
fruits, using image processing the robot is capable of
identifying the difference between the ripe ,unripe and
overripe fruits, it can also takes the count and determine the
size of the fruit. 1

Sridhatta Jayaram Aithal, Sanket Navarkar, Gaurav Mishra, Rohan Gauda

Harvester and Collector Bot Based Harvesting System
 INTRODUCTION
1 The Harvesting system comprises of two robots namely
Harvester robot and Collector robot.
2 They are installed inside a farm with guided tracks or black
line or white line to constitute a whole arena on which the
robot follows it to reach the specific fruit tree to reach the
goal.
3 The robots are autonomous i.e., it is capable of determining
the path to the specific tree itself.
4 In this arena constitutes of two robots Harvester robot and
Collector robot both these robot are connected to each other
wirelessly.
5 The Harvester robot uses image processing to identify the
fruits, using image processing the robot is capable of
identifying the difference between the ripe ,unripe and
overripe fruits, it can also takes the count and determine the
size of the fruit. 1

Sridhatta Jayaram Aithal, Sanket Navarkar, Gaurav Mishra, Rohan Gauda

Harvester and Collector Bot Based Harvesting System
 INTRODUCTION
1 The Harvesting system comprises of two robots namely
Harvester robot and Collector robot.
2 They are installed inside a farm with guided tracks or black
line or white line to constitute a whole arena on which the
robot follows it to reach the specific fruit tree to reach the
goal.
3 The robots are autonomous i.e., it is capable of determining
the path to the specific tree itself.
4 In this arena constitutes of two robots Harvester robot and
Collector robot both these robot are connected to each other
wirelessly.
5 The Harvester robot uses image processing to identify the
fruits, using image processing the robot is capable of
identifying the difference between the ripe ,unripe and
overripe fruits, it can also takes the count and determine the
size of the fruit. 1

Sridhatta Jayaram Aithal, Sanket Navarkar, Gaurav Mishra, Rohan Gauda

Harvester and Collector Bot Based Harvesting System
 INTRODUCTION

1 After identifying the fruit Harvester robot uses its robotic

arm to collects it and traverses the arena to reach the
Collector robot.
2 Collector bot collects the fruit from the Harvester Bot and
deposits it to the Fruit Bin where it is used for further process.
3 The overall system is controlled by the minicomputer e.g.
Raspberry Pi, Beagle Bone Black etc. The minicomputer is
connected to Harvester bot through Serial Communication
and through Collector Bot through Wireless medium
4 The system utilizes Image processing, Path Planning, Artificial
Intelligence as a base concept.

Sridhatta Jayaram Aithal, Sanket Navarkar, Gaurav Mishra, Rohan Gauda

Harvester and Collector Bot Based Harvesting System
 INTRODUCTION

1 After identifying the fruit Harvester robot uses its robotic

arm to collects it and traverses the arena to reach the
Collector robot.
2 Collector bot collects the fruit from the Harvester Bot and
deposits it to the Fruit Bin where it is used for further process.
3 The overall system is controlled by the minicomputer e.g.
Raspberry Pi, Beagle Bone Black etc. The minicomputer is
connected to Harvester bot through Serial Communication
and through Collector Bot through Wireless medium
4 The system utilizes Image processing, Path Planning, Artificial
Intelligence as a base concept.

Sridhatta Jayaram Aithal, Sanket Navarkar, Gaurav Mishra, Rohan Gauda

Harvester and Collector Bot Based Harvesting System
 INTRODUCTION

1 After identifying the fruit Harvester robot uses its robotic

arm to collects it and traverses the arena to reach the
Collector robot.
2 Collector bot collects the fruit from the Harvester Bot and
deposits it to the Fruit Bin where it is used for further process.
3 The overall system is controlled by the minicomputer e.g.
Raspberry Pi, Beagle Bone Black etc. The minicomputer is
connected to Harvester bot through Serial Communication
and through Collector Bot through Wireless medium
4 The system utilizes Image processing, Path Planning, Artificial
Intelligence as a base concept.

Sridhatta Jayaram Aithal, Sanket Navarkar, Gaurav Mishra, Rohan Gauda

Harvester and Collector Bot Based Harvesting System
 INTRODUCTION

1 After identifying the fruit Harvester robot uses its robotic

arm to collects it and traverses the arena to reach the
Collector robot.
2 Collector bot collects the fruit from the Harvester Bot and
deposits it to the Fruit Bin where it is used for further process.
3 The overall system is controlled by the minicomputer e.g.
Raspberry Pi, Beagle Bone Black etc. The minicomputer is
connected to Harvester bot through Serial Communication
and through Collector Bot through Wireless medium
4 The system utilizes Image processing, Path Planning, Artificial
Intelligence as a base concept.

Sridhatta Jayaram Aithal, Sanket Navarkar, Gaurav Mishra, Rohan Gauda

Harvester and Collector Bot Based Harvesting System
 INTRODUCTION

1 After identifying the fruit Harvester robot uses its robotic

arm to collects it and traverses the arena to reach the
Collector robot.
2 Collector bot collects the fruit from the Harvester Bot and
deposits it to the Fruit Bin where it is used for further process.
3 The overall system is controlled by the minicomputer e.g.
Raspberry Pi, Beagle Bone Black etc. The minicomputer is
connected to Harvester bot through Serial Communication
and through Collector Bot through Wireless medium
4 The system utilizes Image processing, Path Planning, Artificial
Intelligence as a base concept.

Sridhatta Jayaram Aithal, Sanket Navarkar, Gaurav Mishra, Rohan Gauda

Harvester and Collector Bot Based Harvesting System
 LITERATURE SURVEY PAPER 1
PAPER [1]: TASK-BASED AGRICULTURAL MOBILE
ROBOTS IN ARABLE FARMING: A REVIEW
• In agriculture, smart farming and automated agricultural
technology have emerged as promising methodologies for
increasing the crop productivity without sacrificing produce quality.
The emergence of various robotics technologies has facilitated the
application of these techniques in agricultural processes. However,
incorporating this technology in farms has proven to be challenging
because of the large variations in shape, size, rate and type of
growth, type of produce, and environmental requirements for
different types of crops.
• Agricultural processes are chains of systematic, repetitive, and
time-dependent tasks. However, some agricultural processes differ
based on the type of farming, namely permanent crop farming and
arable farming.
[1] A. Krishnaswamy, P. Raja, and M. Ruiz, “Task-based agricultural mobile robots in
arable farming: A review”, Spanish J. Agri. Research, vol.15, no.1, pp.1-16, Mar.2017.
1

Sridhatta Jayaram Aithal, Sanket Navarkar, Gaurav Mishra, Rohan Gauda

Harvester and Collector Bot Based Harvesting System
 LITERATURE SURVEY PAPER 1

• Major operations in open arable farming include tilling, soil

analysis, seeding, transplanting, crop scouting, pest control, weed
removal and harvesting where robots can assist in performing all of
these tasks. Each specific operation requires axillary devices and
sensors with specific functions.
• This article reviews the latest advances in the application of
mobile robots in these agricultural operations for open arable
farming and provide an overview of the systems and techniques
that are used. This article also discusses various challenges for
future improvements in using reliable mobile robots for arable
farming.
[1] A. Krishnaswamy, P. Raja, and M. Ruiz, “Task-based agricultural mobile robots in
arable farming: A review”, Spanish J. Agri. Research, vol.15, no.1, pp.1-16, Mar.2017.

Sridhatta Jayaram Aithal, Sanket Navarkar, Gaurav Mishra, Rohan Gauda

Harvester and Collector Bot Based Harvesting System
 LITERATURE SURVEY PAPER 2
PAPER [2]:SURVEY PAPER ON FRUIT PICKING
ROBOTS
• In order to improve robotic harvesting and reduce production
cost, a harvesting robot system for strawberry was designed
moveable strawberry-harvesting robots, which can be moulded on
a travelling platform, were developed and operated practically in a
greenhouse.
• The harvesting robot is based on the second prototype however,
item be separated from the travelling unit. Both the robot and the
travelling platform are modular system units that can be developed
and tuned individually.
• Combining the harvesting robot and the travelling platform
demonstrated the potential for autonomous harvesting in a 2D
area in a greenhouse. The harvesting robot was a 3DOF cylindrical
type that approached the target fruit from the path side.
[2] Ashwini K, “Survey Paper on Fruit Picking Robots”, Int. J. on computer sci. and
mobile computing, vol. 5, issue 1, pp.96-101, Jan-2016
1

Sridhatta Jayaram Aithal, Sanket Navarkar, Gaurav Mishra, Rohan Gauda

Harvester and Collector Bot Based Harvesting System
 LITERATURE SURVEY PAPER 2

• The results of performance testing showed the electrical power

consumption of the travelling platform. By this it was clear that
the power consumption was more by considering the success rate
and power consumption there was improvement in third and fourth
prototype.
• There was improvement in the machine vision. In order to avoid
the power consumption and to increase the success rates some of
the proposed ideas are considered.
[2] Ashwini K, “Survey Paper on Fruit Picking Robots”, Int. J. on computer sci. and
mobile computing, vol. 5, issue 1, pp.96-101, Jan-2016

Sridhatta Jayaram Aithal, Sanket Navarkar, Gaurav Mishra, Rohan Gauda

Harvester and Collector Bot Based Harvesting System
 LITERATURE SURVEY PAPER 3
PAPER [3]: A PROPOSAL FOR AUTOMATIC FRUIT
HARVESTING BY COMBINING A LOW COST
STEREOVISION CAMERA AND A ROBOTIC ARM
• 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 with a reference small object, an apple and a pear at 10
different intermediate distances from the camera. The average
distance error was from 4 to 5 percent, and the average diameter
error was up to 30 percent in the case of a small object and in a
range from 2 to 6 percent in the case of a pear and an apple.
[3] Davinia Font, Tomàs Pallejà, Marcel Tresanchez ,“A Proposal for Automatic Fruit
Harvesting by Combining a Low Cost Stereovision Camera and a Robotic Arm”,
1

Sensors,
Sridhatta Vol.14,
Jayaram Aithal, pp.11557-11579,
Sanket June-2014.
Navarkar, Gaurav Mishra, Rohan Gauda
Harvester and Collector Bot Based Harvesting System
 LITERATURE SURVEY PAPER 3

• The stereovision system has been attached to the gripper

tool in order to obtain relative distance, orientation and size of the
fruit. The harvesting stage requires the initial fruit location, the
computation of the inverse kinematics of the robotic arm in order
to place the gripper tool in front of the fruit, and a final pickup
approach by iteratively adjusting the vertical and horizontal
position of the gripper tool in a closed visual loop.
• The complete system has been tested in controlled laboratory
conditions with uniform illumination applied to the fruits. As a
future work, this system will be tested and improved in
conventional outdoor farming conditions.
[3] Davinia Font, Tomàs Pallejà, Marcel Tresanchez ,“A Proposal for Automatic Fruit
Harvesting by Combining a Low Cost Stereovision Camera and a Robotic Arm”,
Sensors, Vol.14, pp.11557-11579, June-2014.

Sridhatta Jayaram Aithal, Sanket Navarkar, Gaurav Mishra, Rohan Gauda

Harvester and Collector Bot Based Harvesting System
 MOTIVATION
• In paper [1],[2], and [3] literature we have gain the
knowledge and information about the robot based harvesting
system, we observed few problem or drawbacks that has been
common in all the three of them.
• These drawbacks are :
1. Stationary System.
2. Time consumed by the system.
3. The human interaction in the system.
4. The Maintenance Cost and installation cost is high.
5. The Installation procedure is difficult on Field.
• Therefore , in this project we are using technologies such as
image processing, path planning, artificial intelligence, internet of
things, robotic arm concept to reduce the time consumption and
reduce the human interaction in system.
• Both robots are autonomous working on arduino mega for
movement on travelling platform, which is developed and operated
practically in a greenhouse. 1

Sridhatta Jayaram Aithal, Sanket Navarkar, Gaurav Mishra, Rohan Gauda

Harvester and Collector Bot Based Harvesting System
 OBJECTIVE

• In this project our main aim is to develop a prototype of harvester

robot and collector robot for greenhouse agriculture method.
• Harvester robot uses image processing through raspberry pie and
camera to detect fruits and its type like ripen, damaged etc and
will transport it to collector robot.
• Collector robot takes fruit from harvester and drop it in its
respective deposit zone (Storage area).
• Both robots are autonomous working on arduino mega for
movement on travelling platform, which is developed and operated
practically in a greenhouse.
• Both the robots are connected to each other wireless
communications.

Sridhatta Jayaram Aithal, Sanket Navarkar, Gaurav Mishra, Rohan Gauda

Harvester and Collector Bot Based Harvesting System
 BLOCK DIAGRAM

Figure: Block diagram of Harvesting System

Sridhatta Jayaram Aithal, Sanket Navarkar, Gaurav Mishra, Rohan Gauda

Harvester and Collector Bot Based Harvesting System
 CONCLUSION

• The Results obtained can be implemented on the system to

form an overall Harvester and Collector Robot.
• The overall system is highly efficient because of proper
implementation of Image Processing which helps to detect the
Fruit type and it’s size and it’s count.
• The Path Planning provides the proper path to navigate for the
Harvester and Collector robot through the arena with avoiding the
obstacles.
• The new design of Position Encoder provides proper distance
measurement for robot so that it can easily navigate through the
Arena of Greenhouse such that it can easily turn across nodes and
also to move a specific distance before the tree before harvesting.
• The artificial intelligence in the overall system binds the working
of two robots autonomously where robots communicate with each
other through wireless medium with no human interference needed.
1

Sridhatta Jayaram Aithal, Sanket Navarkar, Gaurav Mishra, Rohan Gauda

Harvester and Collector Bot Based Harvesting System
 REFERENCES

[1] A. Krishnaswamy, P. Raja, and M. Ruiz, “Task-based

agricultural mobile robots in arable farming: A review”, Spanish J.
Agri. Research, vol.15, no.1, pp.1-16, Mar.2017.
[2] Ashwini K, “Survey Paper on Fruit Picking Robots”, Int. J. on
computer sci. and mobile computing, vol. 5, issue 1, pp.96-101,
Jan-2016.
[3] Davinia Font, Tomàs Pallejà, Marcel Tresanchez ,“A Proposal
for Automatic Fruit Harvesting by Combining a Low Cost
Stereovision Camera and a Robotic Arm”, Sensors, Vol.14,
pp.11557-11579, June-2014.

Sridhatta Jayaram Aithal, Sanket Navarkar, Gaurav Mishra, Rohan Gauda

Harvester and Collector Bot Based Harvesting System
 THANK YOU

Sridhatta Jayaram Aithal, Sanket Navarkar, Gaurav Mishra, Rohan Gauda

Harvester and Collector Bot Based Harvesting System