Initial experiments in robotic mushroom harvesting

Reed, J.N.; Tillett, R.D.

doi:10.1016/0957-4158(94)90004-3

Cited by 27 publications

(9 citation statements)

References 1 publication

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“…1. The oldest paper found was from 1994: a vacuum cup for mushrooms (Reed & Tillett, 1994). The largest number of papers that fulfilled the inclusion criteria were published in 2018, namely, 17.…”

Section: A Metadata and Applicationmentioning

confidence: 99%

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Soft Robotic Grippers for Crop Handling or Harvesting: A Review

2022

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Nowadays, harvesting delicate and high-value fruits, vegetables and edible fungi requires a large input of manual human labor. The relatively low wages and many health problems the workforce faces make this profession increasingly unpopular. Meanwhile, robotic systems that selectively harvest crops are being developed. Whilst the moving platform, manipulator, and recognition systems of such robots are studied the past few decades, research on the gripping end of such robots is only recently growing. This study analyses the state-of-the-art of soft grippers for crop handling and harvesting, reporting their quantitative and qualitative characteristics. Seventy-eight grippers are retrieved from the academic literature and compared with each other in terms of their design and reported performance, more specifically grasping and detachment methods, materials used, type of actuators and sensors employed, and the control of the gripping procedure. In addition, the identified grippers are classified into 13 distinct soft grasping technology categories. Moreover, the retrieved papers are analyzed with respect to their publication date and country of origin to observe the recent growth in the field. Furthermore, a subset of soft grippers is identified that was tested on the task of selectively harvesting crops, where grip and detachment success rates and plant and crop damage are compared.

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Section: A Metadata and Applicationmentioning

confidence: 99%

“…3. These included translations, pulling and flicking, rotations, and bending and twisting [33], [36]- [42]. Five grippers detached the crop by first holding it, followed by cutting the peduncle [43]- [46].…”

Section: A Metadata and Applicationmentioning

confidence: 99%

Soft Robotic Grippers for Crop Handling or Harvesting: A Review

2022

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“…The potential applications were discussed and the scope for future developments based on economic as well as technical considerations was deliberated. The developments in locating and picking performance of mushroom harvesting robot were discussed by Reed and Tillett [103]. A black and white vision system with mushroom locating image analysis algorithm, a computer controlled Cartesian robot and a specialized mushroom picking endeffector was used to test the robot's performance.…”

Section: Fruit Harvesting Robotsmentioning

confidence: 99%

Deliberation on Design Strategies of Automatic Harvesting Systems: A Survey

Bachche

2015

Robotics

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In Asia, decreasing farmer and labor populations due to various factors is a serious problem that leads to increases in labor costs, higher harvesting input energy consumption and less resource utilization. To solve these problems, researchers are engaged in providing long term and low-tech alternatives in terms of mechanization and automation of agriculture by way of efficient, low cost and easy to use solutions. This paper reviews various design strategies in recognition and picking systems, as well as developments in fruit harvesting robots during the past 30 years in several countries. The main objectives of this paper are to gather all information on fruit harvesting robots; focus on the technical developments so far achieved in picking devices; highlight the problems still to be solved; and discuss the future prospects of fruit harvesting robots.

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“…The robotic harvesting system currently being developed at Silsoe Research Institute (Reed, Crook & He, 1995) relies on detaching mushrooms from the growing bed using suction cups. Mushrooms are gripped by means of an applied vacuum followed by a twisting action (Reed & Tillett, 1994). Previous measurements showed that the torque required to fracture the stipe (stem) at the point of connection to the bed was, on average, less than the torque required to detach the cap (pileus) from the stipe or cause the cup to slip relative to the cap (Hiller, 1994).…”

Section: Introductionmentioning

confidence: 99%

“…Previous measurements showed that the torque required to fracture the stipe (stem) at the point of connection to the bed was, on average, less than the torque required to detach the cap (pileus) from the stipe or cause the cup to slip relative to the cap (Hiller, 1994). However, in some mushrooms, detachment of the cap, splitting of the stipe or cup slippage occurred at a lower torque than that required to remove mushrooms from the bed (Reed & Tillett, 1994), and therefore resulted in low value, damaged or bruised mushrooms.…”

Section: Introductionmentioning

confidence: 99%

Influences of compost and casing layer depths on the mechanical properties of mushrooms

Noble¹,

Rämä²,

Miles

et al. 1997

Annals of Applied Biology

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The mushroom growing bed consists of an underlying compost which is covered with casing (a peat and chalk or lime mixture) to induce fruit-body formation. The influences of the depths of the compost and casing layers on the mushroom texture, susceptibility to bruising, and ease of detachment from the growing bed surface were investigated. Textural properties were determined on cubes of cap tissue and detachment torque was determined by using an instrumented rotating suction cup which was lowered on to the caps. The proportion of mushrooms which detached at the base from the bed surface was recorded, since this is an important parameter for an automatic (robotic) harvesting system. Shallow casing resulted in mushrooms that were firmer and less likely to deform plastically, but that showed greater discolouration after a standard bruising treatment. Shallower casing also increased the proportion of mushrooms that detached at the base. Increasing the depth of compost produced firmer mushrooms, significantly increased the detachment torque and reduced the proportion of mushrooms detached at the base. The proportion of mushrooms that detached at the base correlated negatively with the plastic deformation of cap tissue. A positive correlation was found between mushroom dry matter content and tissue firmness.

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Initial experiments in robotic mushroom harvesting

Cited by 27 publications

References 1 publication

Soft Robotic Grippers for Crop Handling or Harvesting: A Review

Soft Robotic Grippers for Crop Handling or Harvesting: A Review

Deliberation on Design Strategies of Automatic Harvesting Systems: A Survey

Influences of compost and casing layer depths on the mechanical properties of mushrooms

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