Mobile robot system for selective asparagus harvesting

Sebastjan Šlajpah (Author), Marko Munih (Author), Matjaž Mihelj (Author)

Abstract

Asparagus harvesting presents unique challenges, due to the variability in spear growth, which makes large-scale automated harvesting difficult. This paper describes the development of an asparagus harvesting robot system. The system consists of a delta robot mounted on a mobile track-based platform. It employs a real-time asparagus detection algorithm and a sensory system to determine optimal harvesting points. Low-level control and high-level control are separated in the robot control. The performance of the system was evaluated in a laboratory field mock-up and in the open field, using asparagus spears of various shapes. The results demonstrate that the system detected and harvested 88% of the ready-to-harvest spears, with an average harvesting cycle cost of 3.44 s ± 0.14 s. In addition, outdoor testing in an open field demonstrated a 77% success rate in identifying and harvesting asparagus spears.

Keywords

šparglji;delta robot;mobilna platforma;pobiranje;detekcija;segmentacija oblaka točk;asparagus;mobile platform;harvest;detection;point cloud segmentation;

Data

Language:	English
Year of publishing:	2023
Typology:	1.01 - Original Scientific Article
Organization:	UL FE - Faculty of Electrical Engineering
UDC:	007.52:635.31
COBISS:	157333763
ISSN:	2073-4395
Views:	15
Downloads:	1
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	Slovenian
Secondary keywords:	šparglji;delta robot;mobilna platforma;pobiranje;detekcija;segmentacija oblaka točk;
Type (COBISS):	Article
Pages:	str. 1-17
Volume:	ǂVol. ǂ13
Issue:	ǂiss. ǂ7. [article no.] 1766
Chronology:	Jul. 2023
DOI:	10.3390/agronomy13071766
ID:	19712902