A mobile manipulator (i.e., a wheeled mobile robot with a robotic manipulator attached to it) equipped with imaging sensors is designed and developed for automated planted-pot delivery in nursery farms and greenhouses. 

Our technology has been proven to conduct automated delivery of the planted pots in different sizes, shapes, and weights. Our system: (1) detects planted pots using conventional image processing techniques, (2) moves towards a pre-grasp configuration at high precision using onboard sensors, i.e., camera vision, LiDAR, and IMUs, (3) grasps the planted pots at the optimal contact points, and (4) lift them up and position them on the rotary table on top of the robot. 

According to the estimated size of the pot, the rotary table is then rotated incrementally, making room for the next pot to be positioned on it. The robot can carry up to eight pots, with a total weight of 75kg, for 10 kilometers with one single charge of the battery. The robot can move at the humans' speed, namely ~5 km/h, under which condition, the battery will last for 2 hours.