Selective Harvesting Robot for Crisp Head Vegetables (Part 4)

Force Sensor and Harvesting Experiment

Abstract

In order to develop a selective harvesting robot of crisp head lettuce, the prototype robot with the force sensor to measure the hardness of the crisp head was made for experiment. Results of the experiment showed that the force sensor was suitable to judge the grade of head formation. According to the field test of the robot, the 94% of appropriate heads for harvesting were harvested, and the required time for harvesting was 11.3 seconds a lettuce except the preservation time of data for investigation.