This thesis addresses the development of a robotic system for harvesting green asparagus. First, established solutions are presented, different approaches are discussed and the choice of the mechanism is justified. This is followed by the presentation of the theoretical analysis, the design and the construction of the selected robotic mechanism, wherein the design and the construction of the harvesting tool are described. Lastly, the hardware and software of the robotic mechanism are presented.
The possibilities of plant detection are also investigated and presented. The primary focus lies on data acquisition. A mobile platform for data acquisition developed specifically for the object of this thesis is presented. The measurement system and the sensors are described, followed by the presentation and analysis of the captured measurements.
The thesis is concluded with a test of the robotic harvesting system for asparagus. The operation of the robotic mechanism is described, along with its abilities to harvest and pick up asparagus. The application is evaluated and improvements are suggested. Finally, according to the proposition to continue developing the robotic system for harvesting stem vegetables, further development of the project is set out.
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