{"id":137788,"date":"2026-01-12T17:08:19","date_gmt":"2026-01-12T17:08:19","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/estudio-sobre-sistemas-de-aprehension-y-deteccion-de-frutos-para-un-robot-recolector-de-citricos\/"},"modified":"2026-01-12T17:08:19","modified_gmt":"2026-01-12T17:08:19","slug":"estudio-sobre-sistemas-de-aprehension-y-deteccion-de-frutos-para-un-robot-recolector-de-citricos","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/ciencias-tecnologicas\/estudio-sobre-sistemas-de-aprehension-y-deteccion-de-frutos-para-un-robot-recolector-de-citricos\/","title":{"rendered":"Estudio sobre sistemas de aprehension y deteccion de frutos para un robot recolector de citricos."},"content":{"rendered":"<h2>Tesis doctoral de <strong> Enrique Molto Garcia <\/strong><\/h2>\n<p>Tras analizar las posibilidades economicas y tecnicas de la recoleccion robotizada de citricos en espa\u00f1a, se proponen soluciones a dos componentes del robot citrus:  &#8211; la pinza recolectora: se han dise\u00f1ado dos sistemas de prension del fruto, uno basado en la rotacion hasta la ruptura del pedunculo y otro que realiza un corte del mismo por un sistema de cuchilla. Con el primero se obtuvieron los mejores resultados (alrededor de 90% de desprendimiento).  &#8211; el sistema de vision: se han analizado las diferencias entre el espectro de reflexion de los frutos y las hojas y, a partir de los resultados obtenidos, se han dise\u00f1ado dos algoritmos para detectar y enviar las coordenadas de la fruta al brazo manipulador. El primero de ellos trabaja con una imagen filtrada en rojo sobre la que se realiza una umbralizacion y el segundo utiliza la informacion de dos filtros, uno verde y otro rojo. Con el se localiza el 80% de la fruta visible con un 10% de error.  en ambos casos, las imagenes se toman con flashes para conseguir que todas las escenas esten uniformemente iluminadas.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Estudio sobre sistemas de aprehension y deteccion de frutos para un robot recolector de citricos.<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Estudio sobre sistemas de aprehension y deteccion de frutos para un robot recolector de citricos. <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Enrique Molto Garcia <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Polit\u00e9cnica de Valencia<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 01\/01\/1991<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h3>Direcci\u00f3n y tribunal<\/h3>\n<ul>\n<li><strong>Director de la tesis<\/strong>\n<ul>\n<li>Florentino Juste P\u00e9rez<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: Justo Nieto Nieto <\/li>\n<li>Jes\u00fas Gil Ribes (vocal)<\/li>\n<li>Juan  Ignacio Cuadrado Iglesias (vocal)<\/li>\n<li>Manuel Camps Michelena (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Enrique Molto Garcia Tras analizar las posibilidades economicas y tecnicas de la recoleccion robotizada de citricos en [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center 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