Loose fruit detection for autonomous loose fruit collector

The oil palm plantation industry heavily relies on foreign labour for harvesting, particularly for collecting loose fruits (LF) alongside fresh fruit bunches (FFB). Manual LF collection, involving bending and repetitive movements, not only diminishes productivity but also poses health risks to workers. This study proposes an automated LF collector to mitigate these challenges. The developed system integrates an LF picker with a robot arm, an LF detector using image processing and a camera, a GPS-based human-follower vehicle, a back-to-home navigation system based on weight detection, and an obstacle avoidance system. The automated LF collector aims to operate autonomously, reducing workforce reliance and enhancing productivity in oil palm plantations. The study discusses the motivation, challenges, and objectives of developing such a system, emphasizing its potential economic and societal benefits. Additionally, the implementation of a novel image processing technique, Faster Objects More Objects (FOMO), using a neural network, is detailed for efficient LF detection. The proposed automated LF collector addresses labour shortages, enhances economic productivity, and reduces the risk of worker injuries in the oil palm industry.