Portable equipment for selective harvesting with fruit identification by color. Equipo portátil para la cosecha selectiva con identificación de frutos por color

The present invention corresponds to a portable equipment for selective harvesting and a method for fruit identification and selective harvesting of coffee fruits or other fruits, the portable equipment for selective harvesting of fruits on a branch comprising: an image acquisition system, an image processing system, a detaching mechanism, a control system, a receiving mechanism, and, a power supply system to the equipment, the equipment also possesses a servo vision system. The method for fruit identification by color and selective harvesting comprising the stages of acquiring images of the fruit on the branch; storing the images in a memory; preprocessing the images with filtering for noise reduction and image enhancement; converting the images from RGB color to LUX color space mod; threshold the variables U, and VLUX-modified LUX mod color space to obtain a binary image and detect the pixels of ripe and unripe fruits; count the pixels of ripe and unripe fruits; detect the zones of interest, according to the position on the branch containing the fruits indicated by the image; determine a threshold value for the risk of detaching an immature fruit “N” as a percentage of the entire section of the zone of interest. determine the risk of detaching an immature fruit by comparing the percentage of immature fruit pixels in the section of the zone of interest with the threshold value for the risk of detaching an immature fruit “N” generate an activation order and detach the fruit depending on the rules for the activation to detach fruit.