PORTABLE DEVICE FOR SELECTIVE HARVEST WITH IDENTIFICATION OF THE FRUIT BY COLOUR

The invention relates to a portable device for selective harvest and to a method for identifying fruit and selectively harvesting coffee fruit or other fruit. The portable device for selectively harvesting fruit on a branch comprises: an image acquisition system (1), an image processing system, a picking mechanism (2), a control system, a receiving mechanism, and a system for powering the device, the device also comprising a servo-vision system. The method for identifying fruit by colour and selective harvest comprises the steps of: (a) acquiring images of the fruit on the branch; (b) storing the images in a memory; (c) preprocessing the images with a filtering operation in order to reduce noise and improve the images; (d) converting, in the images, the RGB colour to a LUX mod colour space; (e) thresholding the variables U and modified VLUX of the LUX mod colour space, obtaining a binary image, and detecting the pixels of ripe and unripe fruit; (f) counting the pixels of ripe and unripe fruit; (g) detecting the areas of interest, according to the position on the branch comprising the fruit, which is indicated by the image; (h) determining a threshold value relating to the risk of picking unripe fruit "N" as a percentage of the totality of the section of the area of interest; (i) determining the risk of picking unripe fruit by comparing the percentage of pixels of unripe fruit in the section of the area of interest with the threshold value relating to the risk of picking unripe fruit "N"; and (j) generating a command for activation and picking of the fruit according to the rules for the activation for picking fruit. La presente invención corresponde a un equipo portátil para la cosecha selectiva y un método para identificación de frutos y cosecha selectiva de frutos de café u otros frutos, el equipo portátil para la cosecha selectiva de frutos en una rama que comprende: un sistema de adquisición de imágenes (1), un sistema de procesamiento de imágenes, un mecanismo de desprendimiento (2), un sistema de control, un mecanismo de recepción, y, un sistema de alimentación de energía al equipo, el equipo también posee un sistema de servo-visión. El método para la identificación de frutos por color y cosecha selectiva que comprende las etapas de (a) adquirir imágenes de los frutos en la rama; (b) almacenarlas imágenes en una memoria; (c) preprocesar las imágenes con un filtrado para reducción de ruido y mejora de la imágenes; (d) convertir en las imágenes el color