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Mobile robot system for selective asparagus harvesting
ID
Šlajpah, Sebastjan
(
Author
),
ID
Munih, Marko
(
Author
),
ID
Mihelj, Matjaž
(
Author
)
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MD5: 4E43EDA295A0DADA559BA7F524226D59
URL - Source URL, Visit
https://www.mdpi.com/2073-4395/13/7/1766
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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.
Language:
English
Keywords:
asparagus
,
delta robot
,
mobile platform
,
harvest
,
detection
,
point cloud segmentation
Work type:
Article
Typology:
1.01 - Original Scientific Article
Organization:
FE - Faculty of Electrical Engineering
Publication status:
Published
Publication version:
Version of Record
Year:
2023
Number of pages:
Str. 1-17
Numbering:
Vol. 13, iss. 7. [article no.] 1766
PID:
20.500.12556/RUL-148226
UDC:
007.52:635.31
ISSN on article:
2073-4395
DOI:
10.3390/agronomy13071766
COBISS.SI-ID:
157333763
Publication date in RUL:
03.08.2023
Views:
478
Downloads:
62
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Record is a part of a journal
Title:
Agronomy
Shortened title:
Agronomy
Publisher:
MDPI
ISSN:
2073-4395
COBISS.SI-ID:
522953241
Licences
License:
CC BY 4.0, Creative Commons Attribution 4.0 International
Link:
http://creativecommons.org/licenses/by/4.0/
Description:
This is the standard Creative Commons license that gives others maximum freedom to do what they want with the work as long as they credit the author.
Secondary language
Language:
Slovenian
Keywords:
šparglji
,
delta robot
,
mobilna platforma
,
pobiranje
,
detekcija
,
segmentacija oblaka točk
Projects
Funder:
ARRS - Slovenian Research Agency
Project number:
P2-0228
Name:
Analiza in sinteza gibanja pri človeku in stroju
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