SWEEPER Sweet Pepper Harvesting Robot : Report on test scenarios and definition performance measures

Deliverable 7.1 reports the lay-out and the objectives of the experimental setups for individual module testing and integrated system testing of the sweet-pepper harvesting robot. Testing environments and conditions for laboratory test as well as for greenhouse experiments are defined and described. The laboratory environment and conditions are created to mimic the end-user greenhouse. This includes imitation sweet-pepper plant parts and an indoor rail system. The laboratory setup is created to be more controlled and has less variance than a real greenhouse. Further on performance indicators are specified for all hard- and software modules. Modules to be tested can be categorized in hardware (trolley, manipulator, end-effector, cameras, illumination, depth sensor) and software (GUI, state machine, motion planning, fruit detection, ripeness determination, obstacle detection). For the integrated system performance indicators were selected based on measures known from the predecessor project Crops. These measures include next to others the overall harvest success rate, fruit damage rate and cycle time. Different test scenarios for both laboratory and greenhouse conditions are defined to be able to obtain quantitative data of the performance of individual modules and also of the integrated system. For the modules of the advanced system more detailed information will become available later in the project and after the evaluation of the results of the basic system. Upcoming deliverables of work package 7 will therefore contain a special section describing the reviewed and updated test plan and the performance measures for these modules.