Mobile robot system for selective asparagus harvesting

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

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.

• Jezik: Angleški jezik
• Ključne besede: asparagus, delta robot, mobile platform, harvest, detection, point cloud segmentation
• Vrsta gradiva: Članek v reviji
• Tipologija: 1.01 - Izvirni znanstveni članek
• Organizacija: FE - Fakulteta za elektrotehniko
• Status publikacije: Objavljeno
• Različica publikacije: Objavljena publikacija
• Leto izida: 2023
• Št. strani: Str. 1-17
• Številčenje: Vol. 13, iss. 7. [article no.] 1766
• PID: 20.500.12556/RUL-148226
• UDK: 007.52:635.31
• ISSN pri članku: 2073-4395
• DOI: 10.3390/agronomy13071766
• COBISS.SI-ID: 157333763
• Datum objave v RUL: 03.08.2023

Gradivo je del revije

• Naslov: Agronomy
• Skrajšan naslov: Agronomy
• Založnik: MDPI
• ISSN: 2073-4395
• COBISS.SI-ID: 522953241

Licence

• Licenca: CC BY 4.0, Creative Commons Priznanje avtorstva 4.0 Mednarodna
• Povezava: http://creativecommons.org/licenses/by/4.0/deed.sl
• Opis: To je standardna licenca Creative Commons, ki daje uporabnikom največ možnosti za nadaljnjo uporabo dela, pri čemer morajo navesti avtorja.

Sekundarni jezik

• Jezik: Slovenski jezik
• Ključne besede: šparglji, delta robot, mobilna platforma, pobiranje, detekcija, segmentacija oblaka točk

Projekti

• Financer: ARRS - Agencija za raziskovalno dejavnost Republike Slovenije
• Številka projekta: P2-0228
• Naslov: Analiza in sinteza gibanja pri človeku in stroju