Sensor-based robotic automation of mushroom farming — Preliminary considerations

Abstract

This paper explores an approach to robotic automation of mushroom farming, particularly the harvesting process, which involves the application of image processing, 3D range finding and robotic manipulation to realise a system which could make a major contribution to a rapidly growing Australian industry. The main emphasis is on the application of Hough Transform methodology to the selection of appropriate mushrooms to harvest at any one inspection of the crop and the combination of this analysis and that involving range finding and robotic manipulation in actualising the selective harvesting process. Other aspects of automation of the whole mushroom farming process are also described.