info:eu-repo/semantics/bachelorThesis
Vinculación de un sistema electromecánico y visión artificial para la implementación de un prototipo recolector de fresas en un cultivo hidropónico
Fecha
2022-11-15Registro en:
Toapanta Tocte, Néstor Fabián; Tenemasa Sayay, Yesenia Stefania. (2022). Vinculación de un sistema electromecánico y visión artificial para la implementación de un prototipo recolector de fresas en un cultivo hidropónico. Escuela Superior Politécnica de Chimborazo. Riobamba.
Autor
Toapanta Tocte, Néstor Fabián
Tenemasa Sayay, Yesenia Stefania
Resumen
This research project describes the development of an electromechanical system based on
artificial vision in order to automate the strawberry harvesting process in hydroponic crops, The
mechanical design of the prototype was carried out using SOLID WORKS 2020, obtaining an
electromechanical model of two operations, a robotic arm for the harvesting of strawberries and
a traction system for the displacement of the prototype through flat fields in controlled
environments. Arduino MEGA was employed to control the displacements of both traction and
servomotors of the robotic arm, Python programming language was used for the artificial vision,
and it can be executed both automatically and manually. The field tests were carried out in an
experimental hydroponic crop designed based on the dimensions of hydroponic strawberry
structures that are produced in Ecuador with an average height of 55 cm, the hydroponic furrows
have 30 plants, each plant has an average of 5 to 6 strawberries. The results obtained after the
evaluation of the prototype showed that the most suitable environment for the detection of
strawberries is partially cloudy because in this environment the vision correctly differentiates
between a ripe and unripe strawberries obtaining an efficiency of 98.5% with an error of 1.5%
Concerning the positioning of the robotic arm on the milling cutter based on inverse kinematics,
it has an efficiency of 98.14% with an error of 1.86%. The cutting and gathering system express
an average time of 51 seconds, being this an extensive time for harvesting. A different type of
tool could be experimented with for greater efficiency with respect to time.