Agricultural Robot for Radicchio Harvesting

In the last few years, robotics has been increasingly adopted in agriculture to improve productivity and efficiency. This paper presents recent and current work at the Politecnico of Bari in collaboration with the University of Lecce in the field of agriculture robotics. A cost effective robotic arm is introduced for the harvesting of radicchio, which employs visual localization of the plants in the field. The proposed harvester is composed of a double four bar linkage manipulator and a special gripper, which fulfills the requirement for a plant cut approximately 10 mm underground. Both manipulator and end-effector are pneumatically actuated and the gripper works with flexible pneumatic muscles. The system employs computer vision to localize the plants in the field based on intelligent color filtering and morphological operations; we call this algorithm the Radicchio Visual Localization (RVL). Details are provided for the functional and executive design of the robotic arm and its control system. Experimental results are discussed, obtained with a prototype operating in a laboratory testbed showing the feasibility of the system in localizing and harvesting radicchio plants. The performance of the RVL is analyzed in terms of accuracy, robustness to noises and variations in lighting, and is also validated in field experiments.