The invention relates to a method and system for detecting asparagus in ground for asparagus harvest. The method comprises inserting at least one proximity sensor, which is arranged for detecting asparagus in proximity of the sensor, below a ground surface at a scanning depth moving, at the scanning depth below the ground surface, the at least one proximity sensor through the ground for defining a scanning movement path of the sensor below the ground surface and adjusting said movement path of the proximity sensor upon local proximity detection of an asparagus by the at least one proximity sensor.
