Development, integration, and field evaluation of an autonomous citrus-harvesting robot

文献类型： 外文期刊

第一作者： Yin, Hesheng

作者： Yin, Hesheng;Ren, Xu;Guo, Junlong;Yang, Yunlong;Wei, Yujia;Huang, Bo;Zhong, Ming;Sun, Qixin;Chai, Xiujuan;Chai, Xiujuan;Zhong, Ming

作者机构：

关键词： agriculture robotics; citrus-harvesting robot; end-effector; navigation; pose estimation

期刊名称：JOURNAL OF FIELD ROBOTICS （ 影响因子：8.3； 五年影响因子：7.5 ）

ISSN： 1556-4959

年卷期： 2023 年 40 卷 6 期

页码：

收录情况： SCI

摘要： Citrus harvesting is a labor-intensive and time-intensive task. As the global population continues to age, labor costs are increasing dramatically. Therefore, the citrus-harvesting robot has attracted considerable attention from the business and academic communities. However, robotic harvesting in unstructured and natural citrus orchards remains a challenge. This study aims to address some challenges faced in commercializing citrus-harvesting robots. We present a fully integrated, autonomous, and innovative solution for citrus-harvesting robots to overcome the harvesting difficulties derived from the natural growth characteristics of citrus. This solution uses a fused simultaneous localization and mapping algorithm based on multiple sensors to perform high-precision localization and navigation for the robot in the field orchard. Besides, a novel visual method for estimating fruit poses is proposed to cope with the randomization of citrus growth orientations. Further, a new end-effector is designed to improve the success and conformity rate of citrus stem cutting. Finally, a fully autonomous harvesting robot system has been developed and integrated. Field evaluations showed that the robot could harvest citrus continuously with an overall success rate of 87.2% and an average picking time of 10.9 s/fruit. These efforts provide a solid foundation for the future commercialization of citrus-harvesting robots.

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