"The paper deals with the development of a new module for the detachment of the saffron flower. The module is conceived to be a part of the Agri-robot Zaffy. The module is composed of a gripper, a vision system, a pneumatic system for leaves shifting and a suction system for the harvesting of flowers after detachment. This paper describes the design of the module, with a special focus on the gripping device and on the vision system. The paper also shows the prototype of this module and the experimental activity performed in our research laboratory in order to measure the detachment capability and to test the vision system performances. Finally a preliminary experimental test was conducted in a Crocus cultivation. The preliminary results obtained show that the vision system has some critical positions in detecting the saffron flower."
Development of a New Harvesting Module for Saffron Flower Detachment
ANTONELLI, MICHELE GABRIO;BEOMONTE ZOBEL, Pierluigi;
2011-01-01
Abstract
"The paper deals with the development of a new module for the detachment of the saffron flower. The module is conceived to be a part of the Agri-robot Zaffy. The module is composed of a gripper, a vision system, a pneumatic system for leaves shifting and a suction system for the harvesting of flowers after detachment. This paper describes the design of the module, with a special focus on the gripping device and on the vision system. The paper also shows the prototype of this module and the experimental activity performed in our research laboratory in order to measure the detachment capability and to test the vision system performances. Finally a preliminary experimental test was conducted in a Crocus cultivation. The preliminary results obtained show that the vision system has some critical positions in detecting the saffron flower."Pubblicazioni consigliate
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