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SWEEPER

Sweet Pepper Harvesting Robot

Total Cost €

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EC-Contrib. €

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Partnership

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 SWEEPER 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.

extensive    effector    shown    technically    modern    4dof    sweet    decreasing    sensors    robotic    demand    modules    pressure    instead    crops    turned    science    gained    gripper    vision    models    location    lightfield    accepts    harvesting    arm    greenhouse    module    3d    technological    maintained    insights    put    labour    colour    puts    grasp    density    greenhouses    plant    gap    reducing    detection    expanded    economic    automate    itself    software    innovation    approximate    growers    sufficient    simultaneously    entered    concluded    ing    climate    pending    onto    hardware    skilled    halts    ros    workforce    fruit    peppers    agricultural    position    groundwork    robotics    readiness    performed    repetitive    sensor    9dof    record    harsh    cropping    successful    optimized    cognitive    placed    speed    accurate    retained    trl    economically    sweeper    patent    benefit    model    crop    societal    robotization    capacity    competitiveness    robot    proven    pepper    experiments    fp7    orientation    transition    ranging   

Project "SWEEPER" data sheet

The following table provides information about the project.

Coordinator
STICHTING WAGENINGEN RESEARCH 

Organization address
address: DROEVENDAALSESTEEG 4
city: WAGENINGEN
postcode: 6708 PB
website: http://www.wageningenur.nl/nl.htm

contact info
title: n.a.
name: n.a.
surname: n.a.
function: n.a.
email: n.a.
telephone: n.a.
fax: n.a.

 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.

# participants  country  role  EC contrib. [€] 
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

List of 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
List of publications.
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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