Mobile Robot System for Selective Asparagus Harvesting
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...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-06-01
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| Series: | Agronomy |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2073-4395/13/7/1766 |
| _version_ | 1797590662400442368 |
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| author | Sebastjan Šlajpah Marko Munih Matjaž Mihelj |
| author_facet | Sebastjan Šlajpah Marko Munih Matjaž Mihelj |
| author_sort | Sebastjan Šlajpah |
| collection | DOAJ |
| description | 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 <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>3.44</mn><mspace width="3.33333pt"></mspace><mi mathvariant="normal">s</mi><mo>±</mo><mn>0.14</mn><mspace width="3.33333pt"></mspace><mi mathvariant="normal">s</mi></mrow></semantics></math></inline-formula>. In addition, outdoor testing in an open field demonstrated a 77% success rate in identifying and harvesting asparagus spears. |
| first_indexed | 2024-03-11T01:23:43Z |
| format | Article |
| id | doaj.art-9b4fc1d0f51a4cb4b002e7cd4e00da28 |
| institution | Directory Open Access Journal |
| issn | 2073-4395 |
| language | English |
| last_indexed | 2024-03-11T01:23:43Z |
| publishDate | 2023-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Agronomy |
| spelling | doaj.art-9b4fc1d0f51a4cb4b002e7cd4e00da282023-11-18T17:55:50ZengMDPI AGAgronomy2073-43952023-06-01137176610.3390/agronomy13071766Mobile Robot System for Selective Asparagus HarvestingSebastjan Šlajpah0Marko Munih1Matjaž Mihelj2Faculty of Electrical Engineering, University of Ljubljana, Tržaška Cesta 25, 1000 Ljubljana, SloveniaFaculty of Electrical Engineering, University of Ljubljana, Tržaška Cesta 25, 1000 Ljubljana, SloveniaFaculty of Electrical Engineering, University of Ljubljana, Tržaška Cesta 25, 1000 Ljubljana, SloveniaAsparagus 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 <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>3.44</mn><mspace width="3.33333pt"></mspace><mi mathvariant="normal">s</mi><mo>±</mo><mn>0.14</mn><mspace width="3.33333pt"></mspace><mi mathvariant="normal">s</mi></mrow></semantics></math></inline-formula>. In addition, outdoor testing in an open field demonstrated a 77% success rate in identifying and harvesting asparagus spears.https://www.mdpi.com/2073-4395/13/7/1766asparagusdelta robotmobile platformharvestdetectionpoint cloud segmentation |
| spellingShingle | Sebastjan Šlajpah Marko Munih Matjaž Mihelj Mobile Robot System for Selective Asparagus Harvesting Agronomy asparagus delta robot mobile platform harvest detection point cloud segmentation |
| title | Mobile Robot System for Selective Asparagus Harvesting |
| title_full | Mobile Robot System for Selective Asparagus Harvesting |
| title_fullStr | Mobile Robot System for Selective Asparagus Harvesting |
| title_full_unstemmed | Mobile Robot System for Selective Asparagus Harvesting |
| title_short | Mobile Robot System for Selective Asparagus Harvesting |
| title_sort | mobile robot system for selective asparagus harvesting |
| topic | asparagus delta robot mobile platform harvest detection point cloud segmentation |
| url | https://www.mdpi.com/2073-4395/13/7/1766 |
| work_keys_str_mv | AT sebastjanslajpah mobilerobotsystemforselectiveasparagusharvesting AT markomunih mobilerobotsystemforselectiveasparagusharvesting AT matjazmihelj mobilerobotsystemforselectiveasparagusharvesting |