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SWEEPER
Sweet Pepper Harvesting Robot
Total Cost €
0EC-Contrib. €
0Partnership
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0SWEEPER project word cloud
Explore the words cloud of the SWEEPER project. It provides you a very rough idea of what is the project "SWEEPER" about.
gained
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robotic
Project "SWEEPER" data sheet
The following table provides information about the project.
| Coordinator |
STICHTING WAGENINGEN RESEARCH
Organization address contact info |
| Coordinator Country | Netherlands [NL] |
| Project website | http://www.sweeper-robot.eu |
| Total cost | 4˙345˙912 € |
| EC max contribution | 4˙028˙311 € (93%) |
| Programme |
1. H2020-EU.2.1.1.5. (Advanced interfaces and robots: Robotics and smart spaces) |
| Code Call | H2020-ICT-2014-1 |
| Funding Scheme | IA |
| Starting year | 2015 |
| Duration (year-month-day) | from 2015-02-01 to 2018-10-31 |
Partnership
Take a look of project's partnership.
| # | ||||
|---|---|---|---|---|
| 1 | STICHTING WAGENINGEN RESEARCH | NL (WAGENINGEN) | coordinator | 1˙287˙284.00 |
| 2 | UMEA UNIVERSITET | SE (UMEA) | participant | 876˙375.00 |
| 3 | BEN-GURION UNIVERSITY OF THE NEGEV | IL (BEER SHEVA) | participant | 565˙196.00 |
| 4 | PROEFSTATION VOOR DE GROENTETEELT | BE (Sint-Katelijne-Waver) | participant | 558˙386.00 |
| 5 | IRMATO INDUSTRIAL SOLUTIONS VEGHEL B.V. | NL (VEGHEL) | participant | 372˙501.00 |
| 6 | B&A AUTOMATION BVBA | BE (HOOGSTRATEN) | participant | 263˙375.00 |
| 7 | DE TUINDERSHOEK BV | NL (IJsselmuiden) | participant | 105˙192.00 |
Map
Project objective
In modern greenhouses there is a high demand to automate labour. The availability of a skilled workforce that accepts repetitive tasks in harsh greenhouse climate conditions is decreasing rapidly. The resulting increase in labour costs and reduced capacity puts major pressure on the competitiveness of the European greenhouse sector. Present robotization of this labour has entered an high level of technological readiness. However, a gap remains which halts the transition from science to economic and societal impact; the so called ‘Technological Innovation Gap’. In the EU-FP7-project CROPS extensive research has been performed on agricultural robotics. One of the applications was a sweet pepper harvesting robot. It was shown that such a robot is economically and technically viable. The proven hardware and software modules (TRL:6) developed in CROPS will be used as the groundwork. The successful CROPS software modules based on the Robotic-Operating-System (ROS) will be maintained and expanded in SWEEPER. Also the gripper end-effector will be retained. This patent pending module is able to grasp the sweet pepper without the need of an accurate measurement of the position and orientation of the fruit. From the CROPS project, also gained knowledge will directly be put to benefit. In several experiments, it turned out that different growers use different cropping systems ranging in crop density. In SWEEPER, the cropping system itself will be optimized to facilitate robotic harvesting. In CROPS it was concluded that instead of a 9DOF, a 4DOF robot arm is sufficient , greatly reducing costs. To improve the level of robotic cognitive abilities, plant models will be applied to approximate location of sweet peppers. This “model-based vision” will increase and speed up fruit detection. Based on the insights of CROPS, sensors will be placed onto the gripper only. Also a LightField sensor will be introduced which is able to record both colour and 3D information simultaneously.
Deliverables
| \"Advanced software for fruit detection, localization and maturity, linked with results from WP6: optimized crop #1\" | Other | 2019-10-08 17:05:47 |
| At least 5 submitted scientific papers to peer reviewed journal | Other | 2019-05-30 15:43:01 |
| At least 10 papers in farmers magazines | Other | 2019-05-30 15:43:01 |
| Final report on fruit detection, localization and maturity algorithms | Documents, reports | 2019-05-30 15:43:01 |
| At least 8 oral presentations on scientific conferences | Other | 2019-05-30 15:43:01 |
| Influence of harvesting method on sensitivity for plant diseases and fruit quality | Documents, reports | 2019-05-30 15:43:01 |
| Report on evaluation results | Documents, reports | 2019-05-30 15:43:01 |
| Demonstrations to growers | Demonstrators, pilots, prototypes | 2019-05-30 15:43:01 |
| Demonstration of the optimized growing strategy adjusted for robotic harvesting | Documents, reports | 2019-05-30 15:43:01 |
| Final report on obstacle detection and localization algorithms | Documents, reports | 2019-05-30 15:43:01 |
| Presenting SWEEPER on 2 technical exhibitions | Websites, patent fillings, videos etc. | 2019-05-30 15:43:01 |
| Report on final performance of developed harvesting robot | Documents, reports | 2019-05-30 15:43:01 |
| Altering plant morphology by means of LED lighting | Documents, reports | 2019-05-30 15:43:01 |
| Extended and implemented software framework and GUI | Other | 2019-05-30 15:43:01 |
| \"Image databases #3 with different crop conditions (corresponding to WP6) available for analyses\" | Open Research Data Pilot | 2019-05-30 15:43:01 |
| Basic Algorithms for obstacle detection and avoidance for the automated platform | Other | 2019-05-30 15:43:01 |
| Motion control routines for the manipulator and gripper | Other | 2019-05-30 15:43:00 |
| Report on test scenarios and definition performance measures | Documents, reports | 2019-05-30 15:43:00 |
| Basic software for fruit detection, localization and maturity | Other | 2019-05-30 15:43:00 |
| \"Image database #2 with different crop conditions available for analyses\" | Open Research Data Pilot | 2019-05-30 15:43:00 |
| Advanced software for obstacle detection and localization algorithms | Other | 2019-05-30 15:43:01 |
| Effect of cultivation technique on crop openness and production | Documents, reports | 2019-05-30 15:43:01 |
| Determine crop-criterions | Documents, reports | 2019-05-30 15:43:00 |
| Specification of ROS messages between all basic software components | Other | 2019-05-30 15:43:00 |
| Specification of ROS messages between all software components | Documents, reports | 2019-05-30 15:43:00 |
| Training session during SWEEPER workshop on the use of ROS and on the SWEEPER software framework | Other | 2019-05-30 15:43:00 |
| Enhancing crop openness by means of climate control | Documents, reports | 2019-05-30 15:43:01 |
| \"Image database #1 with different crop conditions available for analyses (dependency on basic sensing hardware deliverable 2.5 in M6)\" | Open Research Data Pilot | 2019-05-30 15:43:00 |
| Selection of the most appropriate varieties for mechanical harvesting | Documents, reports | 2019-05-30 15:43:00 |
| Advanced software for fruit detection, localization and maturity | Documents, reports | 2019-05-30 15:43:01 |
| Motion planning and obstacle avoidance for manipulator | Other | 2019-05-30 15:43:01 |
| Basic Routines for precise gripper control for manipulator | Other | 2019-05-30 15:43:01 |
| Dissemination section on SWEEPER website ready | Websites, patent fillings, videos etc. | 2019-05-30 15:43:01 |
| Report on evaluation methodologies | Documents, reports | 2019-05-30 15:43:01 |
| Report on basic fruit detection, localization and maturity algorithms | Documents, reports | 2019-05-30 15:43:01 |
| \"Image databases #4 with different crop conditions (corresponding to WP6) available for analyses\" | Open Research Data Pilot | 2019-05-30 15:43:01 |
Take a look to the deliverables list in detail: detailed list of SWEEPER deliverables.
Publications
| year | authors and title | journal | last update |
|---|---|---|---|
| 2017 |
J. Balendonck Sweeper robot picks first peppers published pages: 37, ISSN: , DOI: |
In Greenhouses : the international magazine for greenhouse growers 6 (2) | 2019-10-08 |
| 2015 |
C. Oberst Pepper bot published pages: 27-29, ISSN: , DOI: |
The SNACK 12 | 2019-10-08 |
| 2016 |
Balendonck J. Robots en el invernadero published pages: 59, ISSN: , DOI: |
Revista Alimentaria September | 2019-10-08 |
| 2017 |
Balendonck J. I robot, your personal assistant scout published pages: 12-13, ISSN: , DOI: |
KAS Automatisering | 2019-10-08 |
| 2015 |
Gorvett, Z. World\'s first pepper-picking robot heralds new era. published pages: , ISSN: , DOI: |
Horizon, The EU Research & Innovation Magazine | 2019-10-08 |
| 2017 |
R. Barth, J. IJsselmuiden, J. Hemming, E.J. Van Henten Synthetic bootstrapping of convolutional neural networks for semantic plant part segmentation published pages: , ISSN: 0168-1699, DOI: 10.1016/j.compag.2017.11.040 |
Computers and Electronics in Agriculture | 2019-10-08 |
| 2018 |
Ola Ringdahl, Polina Kurtser, Yael Edan Evaluation of approach strategies for harvesting robots: Case study of sweet pepper harvesting published pages: , ISSN: 0921-0296, DOI: 10.1007/s10846-018-0892-7 |
Journal of Intelligent & Robotic Systems | 2019-10-08 |
| 2017 |
R. Barth Kunstmatig 3D model paprika voor oogstrobot published pages: 39, ISSN: , DOI: |
Onder Glas 3 | 2019-10-08 |
| 2017 |
R. Barth Artificial 3D pepper model for harvesting robot published pages: 47, ISSN: , DOI: |
In Greenhouses : the international magazine for greenhouse growers 6 (3) | 2019-10-08 |
| 2017 |
Van Herck L. Belichting in paprika voorlopig niet aan de orde published pages: 8-9, ISSN: , DOI: |
Proeftuinnieuws 9 | 2019-10-08 |
| 2017 |
CORDIS Pepper robot harvester edges closer to commercialization published pages: , ISSN: , DOI: |
2019-10-08 | |
| 2017 |
Barth, R. ; IJsselmuiden, J.M.M. ; Hemming, J. ; van Henten, E.J. Optimising Realism of Synthetic Agricultural Images using Cycle Generative Adversarial Networks published pages: 18-22, ISSN: , DOI: 10.18174/434834 |
Proceedings of the IEEE IROS workshop on Agricultural Robotics | 2019-10-08 |
| 2018 |
P. Visser Sweeper-robot oogst zelfstandig paprika\'s published pages: 28-29, ISSN: , DOI: |
Groenten&Fruit 20 | 2019-10-08 |
| 2017 |
J. Balendonck Sweeper robot plukt eerste paprika published pages: 53, ISSN: , DOI: |
Onder Glas 14 (1) | 2019-10-08 |
| 2016 |
Unknown Robot plukt richting praktijkrijpheid published pages: 18-19, ISSN: , DOI: |
Nieuwe Oogst June | 2019-10-08 |
| 2015 |
Mulderij R. Plukrobots: The Last Frontier? published pages: 40-41, ISSN: , DOI: |
AGF Primeur 2 | 2019-10-08 |
| 2017 |
Van Herck L., Wittemans L. Aangepaste teeltmaatregelen geven meer mechanisch oogstbare paprika\'s published pages: 15-16, ISSN: , DOI: |
Proeftuinnieuws 3 | 2019-10-08 |
| 2018 |
Ostovar, A.; Ringdahl, O.; Hellström, T. Adaptive Image Thresholding of Yellow Peppers for a Harvesting Robot published pages: 11, ISSN: 2218-6581, DOI: 10.3390/robotics7010011 |
Robotics 7/1 | 2019-10-08 |
| 2017 |
H. Van Eerden Cross-over between high-tech and agri- & horticulture published pages: 5-9, ISSN: , DOI: |
Mikroniek 6 | 2019-10-08 |
| 2017 |
Ola Ringdahl, Polina Kurtser, Yael Edan Strategies for Selecting Best Approach Direction for a Sweet-Pepper Harvesting Robot published pages: 516-525, ISSN: , DOI: 10.1007/978-3-319-64107-2_41 |
Towards Autonomous Robotic Systems: 18th Annual Conference, TAROS 2017, Guildford, UK, July 19–21, 2017, Proceedings | 2019-10-08 |
| 2018 |
Polina Kurtser, Yael Edan Statistical models for fruit detectability: spatial and temporal analyses of sweet peppers published pages: 272-289, ISSN: 1537-5110, DOI: 10.1016/j.biosystemseng.2018.04.017 |
Biosystems Engineering 171 | 2019-10-08 |
| 2015 |
Fossgreen, A. Hightech-Zentrum Bauernhof published pages: , ISSN: , DOI: |
Landwirtschaft Hightech, sonntagszeitung | 2019-10-08 |
| 2018 |
R. Barth, J. IJsselmuiden, J. Hemming, E.J. Van Henten Data synthesis methods for semantic segmentation in agriculture: A Capsicum annuum dataset published pages: 284-296, ISSN: 0168-1699, DOI: 10.1016/j.compag.2017.12.001 |
Computers and Electronics in Agriculture 144 | 2019-10-08 |
| 2016 |
O. Ringdahl A software framework for agricultural robotics using ROS published pages: , ISSN: , DOI: |
04/04/2016 | 2019-05-30 |
| 2015 |
J. Bontsema Sweet Pepper Harvesting Robot published pages: , ISSN: , DOI: |
EU Robotics Forum 11-13/03/2015 | 2019-05-30 |
| 2018 |
Hanneke De Jonge Mens moet paprikaplukrobot nog handje helpen published pages: , ISSN: , DOI: |
Nieuwe Oogst | 2019-05-30 |
| 2018 |
P. Kurtser Dynamic viewpoints for autonomous pepper harvesting robot published pages: , ISSN: , DOI: |
IROS 2018 1-5/10/2018 | 2019-05-30 |
| 2018 |
J. Balendonck Robotics and mobile detection systems for high-tech greenhouse production published pages: , ISSN: , DOI: |
GreenTech 2018 12-14/06/2018 | 2019-05-30 |
| 2016 |
unknown Paprikarobot published pages: , ISSN: , DOI: |
De Telegraaf 28/02/2016 | 2019-05-30 |
| 2018 |
unknown Eerste paprikaplukrobot in ons land voorgesteld published pages: , ISSN: , DOI: |
Het Nieuwsblad 12/09/2018 | 2019-05-30 |
| 2015 |
J. Hemming Sweeper project website published pages: , ISSN: , DOI: |
2019-05-30 | |
| 2018 |
unknown Eerste paprikaplukrobot kiest alleen rijpe exemplaren published pages: , ISSN: , DOI: |
Gazet Van Antwerpen 12/09/2018 | 2019-05-30 |
| 2016 |
Y. Edan Sweet Pepper Harvesting Robot published pages: , ISSN: , DOI: |
ICR2016 13/04/2016 | 2019-05-30 |
| 2018 |
unknown De robot plukt nu ook paprika\'s in de kas published pages: , ISSN: , DOI: |
De Stentor 17/07/2018 | 2019-05-30 |
| 2019 |
Kurtser, P (2018). Adaptive Sensing and Task Planning for an Autonomous Harvesting Robot published pages: , ISSN: , DOI: |
Submitted on 18 October 2018 | 2019-05-30 |
| 2016 |
unknown Paprikakweker uit Koekoekspolder spil in ontwikkeling van plukrobot published pages: , ISSN: , DOI: |
De Stentor 06/02/2016 | 2019-05-30 |
| 2016 |
P. Kurtser and Y. Edan Viewpoints analyses for sweet pepper detection published pages: , ISSN: , DOI: |
ABC Sensing: from minds to machines 29 May-1 June 2016 | 2019-05-30 |
| 2016 |
unknown Maak kennis met de paprikarobot published pages: , ISSN: , DOI: |
BNR 15/08/2016 | 2019-05-30 |
| 2017 |
J. Balendonck A Sweet Pepper Robotic Harvester published pages: , ISSN: , DOI: |
EU - Digitising agriculture and food value chains 17/11/2017 | 2019-05-30 |
| 2015 |
J. Hemming Will robotics take horticulture production to the next level? published pages: , ISSN: , DOI: |
Indoor Ag-Con conference 15/10/2015 | 2019-05-30 |
| 2016 |
Harel, B., Kurtser, P., Van Herck, L., Parmet, Y., Edan, Y. Algorithms and Analysis of Sweet-Pepper Color Estimation published pages: , ISSN: , DOI: |
ABC Sensing: from minds to machines 29 May-1 June 2016 | 2019-05-30 |
| 2017 |
Barth, R., IJsselmuiden, J.M.M., Hemming, J., van Henten, E.J. Optimising Realism of Synthetic Agricultural Images using Cycle Generative Adversarial Networks published pages: , ISSN: , DOI: |
ROS 2017 24-28/09/2017 | 2019-05-30 |
| 2017 |
L. Van Herck Generatief paprika\'s telen onder belichting: een uitdaging published pages: , ISSN: , DOI: |
\"Symposium \"\"Van licht naar gewicht\"\"\" 17/01/2017 | 2019-05-30 |
| 2016 |
G. Polder Second Annual AgRA TC Lightning Round published pages: , ISSN: , DOI: |
IEEE, webinar 21/01/2016 | 2019-05-30 |
| 2018 |
unknown Proefstation in Katelijne ontwikkelt paprikaplukrobot published pages: , ISSN: , DOI: |
RTV 12/09/2018 | 2019-05-30 |
| 2015 |
unknown Wetenschappers bouwen oogstrobot voor paprika\'s published pages: , ISSN: , DOI: |
AD Haagse Courant 05/02/2015 | 2019-05-30 |
| 2017 |
L. Van Herck Growing generative peppers + LED: Challenge published pages: , ISSN: , DOI: |
Horticultural Lighting Conference 23/05/2017 | 2019-05-30 |
| 2017 |
unknown Aspergerobot stuurt steker straks naar huis published pages: , ISSN: , DOI: |
De Volkskrant 24/04/2017 | 2019-05-30 |
| 2015 |
Y. Edan Sweet Pepper Harvesting Robot published pages: , ISSN: , DOI: |
IROS 28/09/2015 | 2019-05-30 |
| 2017 |
J. Hemming Robotics, automation and ICT solutions for profitable greenhouse business published pages: , ISSN: , DOI: |
Netherlands-Japan Horticulture Seminar, Agro Innovation Fair 05/10/2017 | 2019-05-30 |
| 2015 |
J. Bontsema CROPS: Clever Robots for CROPS published pages: , ISSN: , DOI: |
Precision Farming Expo 2015 18/03/2015 | 2019-05-30 |
| 2016 |
Ringdahl, O., Kurtser, P., Barth, R., Edan, Y. Operational flow of an autonomous sweet pepper harvesting robot published pages: , ISSN: , DOI: |
ICR2016 13/04/2016 | 2019-05-30 |
| 2017 |
L. Van Herck Guided tour sweet pepper committee published pages: , ISSN: , DOI: |
28/03/2017 | 2019-05-30 |
| 2018 |
J. Hemming Robotereinsatz zur automatischen Ernte von Paprika published pages: , ISSN: , DOI: |
KTBL-Tagung Robotics und Automatisierung im Gartenbau 17-18/09/2018 | 2019-05-30 |
| 2017 |
P. Kurtser Harvesting Sequence Optimization Under Partial Initial Information published pages: , ISSN: , DOI: |
POMS2017 27-29/06/2017 | 2019-05-30 |
| 2016 |
Kurtser, P., Arad, B., Ben Shahar, O., van Bree, M., Moonen, J., van Tujil, B., Edan, Y. Robotic Data Acquisition of Sweet Pepper Images for Research and Development published pages: , ISSN: , DOI: |
ICR2016 13/04/2016 | 2019-05-30 |
| 2018 |
unknown Pepper-picking robot demonstrates its skills in greenhouse labour automation published pages: , ISSN: , DOI: |
CORDIS | 2019-05-30 |
| 2018 |
K. Blum Wereldprimeur: oogstrobot paprika aan de slag op proefstation published pages: 9-11, ISSN: , DOI: |
Proeftuinnieuws 17 | 2019-05-30 |
| 2018 |
J. Balendonck The SWEEPER-robot. Hands-free Production in High-Tech Greenhouses published pages: 28, ISSN: , DOI: |
AgriFoodTech, Den Bosch (The Netherlands) 13 December 2018 | 2019-05-30 |
| 2018 |
J. Balendonck SWEEPER - De paprikaplukrobot (in Dutch) published pages: 28, ISSN: , DOI: |
Machinebouw Event 2018 6-12-2018 | 2019-05-30 |
| 2018 |
J. Van Bavel Paprika’s oogsten met een robot published pages: 32, ISSN: , DOI: |
Boer&Tuinder 28 | 2019-05-30 |
| 2018 |
unknown Sweeper-Roboter erntet gelbe Paprika published pages: , ISSN: , DOI: |
Profiplus 8-2018 | 2019-05-30 |
| 2016 |
Ruud Barth, Jochen Hemming, Eldert J. van Henten Design of an eye-in-hand sensing and servo control framework for harvesting robotics in dense vegetation published pages: not yet finally , ISSN: 1537-5110, DOI: 10.1016/j.biosystemseng.2015.12.001 |
Biosystems Engineering monthly | 2019-05-30 |
| 2016 |
Van Herck L., Wittemans L. Oogstrobot voor paprika dichterbij dan je denkt published pages: 48-49, ISSN: , DOI: |
Management&Techniek No. 2 | 2019-05-30 |
| 2015 |
Van Herck L., Wittemans L. Een oogstrobot in de paprikateelt begin 2018? published pages: 34, ISSN: , DOI: |
Proeftuinnieuws N°16 | 2019-05-30 |
| 2016 |
Balendonck J. Hoe veilig is de kas van de toekomst? published pages: 10-13, ISSN: , DOI: |
Kas July | 2019-05-30 |
| 2017 |
Balendonck, J., Barth, R., Hemming, J., van Tuijl, B., Tielen, T., Raaphorst, M. “Oog-in-hand†coördinatie voor het oogsten van paprika’s met de SWEEPER robot published pages: , ISSN: , DOI: |
Agro Food Robotics beur 13-14/12/2017 | 2019-05-30 |
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The information about "SWEEPER" are provided by the European Opendata Portal: CORDIS opendata.