Embedding a Real-Time Strawberry Detection Model into a Pesticide-Spraying Mobile Robot for Greenhouse Operation

Abstract

The real-time detection of fruits and plants is a crucial aspect of digital agriculture, enhancing farming efficiency and productivity. This study addresses the challenge of embedding a real-time strawberry detection system in a small mobile robot operating within a greenhouse environment. The embedded system is based on the YOLO architecture running in a single GPU card, with the Open Neural Network Exchange (ONNX) representation being employed to accelerate the detection process. The experiments conducted in this study demonstrate that the proposed model achieves a mean average precision (mAP) of over 97%, processing eight frames per second for 512 × 512 pixel images. These results affirm the utility of the proposed approach in detecting strawberry plants in order to optimize the spraying process and avoid inflicting any harm on the plants. The goal of this research is to highlight the potential of integrating advanced detection algorithms into small-scale robotics, providing a viable solution for enhancing precision agriculture practices.