Asparagus harvesting robot coordinated with 3-D vision sensor

摘要

We are developing an automated asparagus harvesting robot to support manual labor works. Our robot is composed of a 3-D vision sensor, a robotic arm and a drive mechanism on the agricultural land. The 3-D vision sensor measures the cross-section of the asparagus and determines the target asparagus. The robotic arm grasps the asparagus and cut the stem. By using the drive mechanism on the agricultural land our robot can navigate along the asparagus cultivation furrow. Experimental results in the greenhouse reveal the applicability of our robot.