A System for the Direct Monitoring of Biological Objects in an Ecologically Balanced Zone

This article discusses a model of a robotic platform that can be used for the proximal probing of biological objects in an ecologically balanced zone. The proximal probing is for scanning deciduous and fertile parts of biological objects with a hyperspectral camera at a distance of no more than a few meters. It allows for the obtention of information about the presence of phyto-diseases of tissues and also about the degree of ripeness and other parameters of the internal quality of the fruit. In this article, we report the methods and approaches used to detect fruits in the crown of a tree and also to identify their diseases such as scab and decay with an accuracy of at least 87%. For the autonomous movement of the platform in an ecologically balanced area, visual and inertial navigation is based on a Zed 2i stereo camera. This allows for the moving of biological objects in accordance with a given route indicated on the 2D map. The analysis of the information received from this platform allows for the building of maps of the presence of phyto-deseases in an ecologically balanced zone, and decisions are promptly made regarding the implementation of technical and protective measures that ensure high-quality products.