Mobile robot system for selective asparagus harvesting

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

Povzetek

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.

Ključne besede

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

Podatki

Jezik:	Angleški jezik
Leto izida:	2023
Tipologija:	1.01 - Izvirni znanstveni članek
Organizacija:	UL FE - Fakulteta za elektrotehniko
UDK:	007.52:635.31
COBISS:	157333763
ISSN:	2073-4395
Št. ogledov:	15
Št. prenosov:	1
Ocena:	0 (0 glasov)
Metapodatki:

Ostali podatki

Sekundarni jezik:	Slovenski jezik
Sekundarne ključne besede:	šparglji;delta robot;mobilna platforma;pobiranje;detekcija;segmentacija oblaka točk;
Vrsta dela (COBISS):	Članek v reviji
Strani:	str. 1-17
Letnik:	ǂVol. ǂ13
Zvezek:	ǂiss. ǂ7. [article no.] 1766
Čas izdaje:	Jul. 2023
DOI:	10.3390/agronomy13071766
ID:	19712902