The article presents a device for collecting strawberry berries, presents a 3D model of an automated manipulator with a computer vision system. The overall dimensions of the manipulator (WxDxH), mm - 200x700x600, the number of degrees of freedom - 6, load capacity - 1 kg, the maximum effort to detach fruits and berries - 10-80 N. An algorithm for the operation of a computer vision system for determining the boundaries of berries and their ripeness based on size factor. The results of field experiments, measuring the area of berries of wild strawberries at different times of the day are given. It was established that the lighting conditions have a significant effect on the detection of the boundaries and area of garden strawberries, and their ripeness.

No abstract

The most common and cost-effective berry crop in the Russian Federation is strawberry garden. A feature of the cultivation of this crop is the increased labor costs, which reach up to 2000 people·h/ha, a large share of which is accounted for by manual harvesting operations. In this connection, the creation and use of an electric drive platform for the cultivation and harvesting of strawberries on an industrial plantation will significantly reduce labor costs, increase productivity and reduce the degree of labor fatigue in gardening. As a result of the conducted research, data on the effectiveness of the use of an electric drive platform for the operation of harvesting strawberries in the conditions of an industrial plantation of “ Sovhoz imeni Lenina”, so the productivity of harvesting strawberries increased by an average of 34.2%. The quality of the technological process of harvesting berries for the entire period of use of the platform was at the level of the usual manual harvesting. The completeness of the harvesting ranged from 95.8% in heavily thickened rows with a large number of weeds, to 99.5% in areas with good agricultural techniques for maintaining plantings and it is economically feasible to use an electric platform with a yield of more than 30 c / ha.

Technological capabilities of agricultural units cannot be optimally used without extensive automation of production processes and the use of advanced computer control systems. (Research purpose) To develop an algorithm for recognizing the coordinates of the location and ripeness of garden strawberries in different lighting conditions and describe the technological process of its harvesting in field conditions using a robotic actuator mounted on a self-propelled platform. (Materials and methods) The authors have developed a self-propelled platform with an automatic actuator for harvesting garden strawberry, which includes an actuator with six degrees of freedom, a co-axial gripper, mg966r servos, a PCA9685 controller, a Logitech HD C270 computer vision camera, a single-board Raspberry Pi 3 Model B+ computer, VL53L0X laser sensors, a SZBK07 300W voltage regulator, a Hubsan X4 Pro H109S Li-polymer battery. (Results and discussion) Using the Python programming language 3.7.2, the authors have developed a control algorithm for the automatic actuator, including operations to determine the X and Y coordinates of berries, their degree of maturity, as well as to calculate the distance to berries. It has been found that the effectiveness of detecting berries, their area and boundaries with a camera and the OpenCV library at the illumination of 300 Lux reaches 94.6 percent’s. With an increase in the robotic platform speed to 1.5 kilometre per hour and at the illumination of 300 Lux, the average area of the recognized berries decreased by 9 percent’s to 95.1 square centimeter, at the illumination of 200 Lux, the area of recognized berries decreased by 17.8 percent’s to 88 square centimeter, and at the illumination of 100 Lux, the area of recognized berries decreased by 36.4 percent’s to 76 square centimeter as compared to the real area of berries. (Conclusions) The authors have provided rationale for the technological process and developed an algorithm for harvesting garden strawberry using a robotic actuator mounted on a self-propelled platform. It has been proved that lighting conditions have a significant impact on the determination of the area, boundaries and ripeness of berries using a computer vision camera.

We establish a criterion of reflexivity for a separable Banach space in terms of the relation between the imbedding of the images, factorization, and majorization of operators acting in this space.and B be linear continuous operators acting in a Banach space X. We are concerned with the relationbetween the following conditions. B = A C for some linear continuous operator C: X ~ X;IIn*x*ll -< gllA*x*ll for some K > 0 andevery x*e X*; ImB c ImA, where Im(A) = A(X). is a Hilbert space, then conditions (i)-(iii) are equivalent. Moreover, the implications (i) ~ (ii), (i) (iii), and (iii) ~ (ii) hold in an arbitrary Banach space X. However, as shown by Douglas, the implication (iii) (i) may not always hold [2]. In [2], the question was posed as to whether (ii) ~ (iii) always holds and it was reported without proof in the addendum that Bouldin found a counterexample for which this implication is not true. Here, we give a characterization of separable Banach spaces for which condition (ii) implies condition (iii).