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Abstract: This paper describes research aimed at demonstrating the technical feasibility of selectively harvesting fresh market mushrooms by machine The harvesting operation has been broken down into a set of tasks mushroom location, sizing, selection, picking, transfer, conveying, trimming and packing A machine vision system using a monochrome video camera and specially written algorithms is used for mushroom location and sizing Picking order is determined by computer analysis of the mushroom arrangement on the bed so as to maximise picking success rate Picking is performed using a suction cup device employing a bend and twist action under the control of various robotic mechanisms Some fundamental research aimed at minimising picking induced damage through an understanding of the interaction between a suction cup and mushroom cap is introduced The importance of detachment technique is highlighted in the context of recent experiments which have indicated that picking success rates of over 85% are achievable
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