The use of unmanned aerial vehicles (UAVs) for smart agriculture is becoming increasingly popular. This is evidenced by recent scientific works, as well as the various competitions organised on this topic. Therefore, in this work we present a system for automatic fruit counting using UAVs. To detect them, our solution uses a vision algorithm that processes streams from an RGB camera and a depth sensor using classical image operations. Our system also allows the planning and execution of flight trajectories, taking into account the minimisation of flight time and distance covered. We tested the proposed solution in simulation and obtained an average score of 87.27/100 points from a total of 500 missions. We also submitted it to the UAV Competition organised as part of the ICUAS 2024 conference, where we achieved an average score of 84.83/100 points, placing 6th in a field of 23 teams and advancing to the finals.

翻译：无人机在智慧农业中的应用正日益普及，这从近期的科学研究和围绕该主题组织的各类竞赛中可见一斑。因此，本研究提出了一种利用无人机进行自动水果计数的系统。为检测水果，我们的解决方案采用了一种视觉算法，该算法通过经典图像处理方法处理来自RGB相机和深度传感器的数据流。我们的系统还支持飞行轨迹的规划与执行，并兼顾了飞行时间和飞行距离的最小化。我们在仿真环境中测试了所提出的方案，在总计500次任务中平均得分为87.27/100分。此外，我们将其提交至ICUAS 2024会议组织的无人机竞赛，取得了84.83/100分的平均成绩，在23支参赛队伍中位列第6名并成功晋级决赛。