相关论文: Autonomous Strawberry Picking Robotic System (Robo…
Strawberries naturally grow in clusters, interwoven with leaves, stems, and other fruits, which frequently leads to occlusion. This inherent growth habit presents a significant challenge for robotic picking, as traditional…
In robotic fruit picking applications, managing object occlusion in unstructured settings poses a substantial challenge for designing grasping algorithms. Using strawberry harvesting as a case study, we present an end-to-end framework for…
Mechanizing the manual harvesting of fresh market fruits constitutes one of the biggest challenges to the sustainability of the fruit industry. During manual harvesting of some fresh-market crops like strawberries and table grapes, pickers…
This study presents a closed-loop robotic strawberry harvesting system that combines a robust vision module, simulation-trained deep reinforcement learning (DRL) control, and ROS-based realrobot execution. For perception, we propose…
This paper presents a novel cable-driven gripper with perception capabilities for autonomous harvesting of strawberries. Experiments show that the gripper allows for more accurate and faster picking of strawberries compared to existing…
Agriculture remains a cornerstone of global health and economic sustainability, yet labor-intensive tasks such as harvesting high-value crops continue to face growing workforce shortages. Robotic harvesting systems offer a promising…
Mechanizing the manual harvesting of fresh market fruits constitutes one of the biggest challenges to the sustainability of the fruit industry. During manual harvesting of some fresh-market crops like strawberries and table grapes, pickers…
Autonomous harvesting may provide a viable solution to mounting labor pressures in the United States's strawberry industry. However, due to bottlenecks in machine perception and economic viability, a profitable and commercially adopted…
Selective robotic harvesting is a promising technological solution to address labour shortages which are affecting modern agriculture in many parts of the world. For an accurate and efficient picking process, a robotic harvester requires…
High-resolution yield maps for manually harvested crops are impractical to generate on commercial scales because yield monitors are available only for mechanical harvesters. However, precision crop management relies on accurately…
Robotic strawberry harvesting remains challenging under partial occlusion, where leaf interference introduces significant geometric uncertainty and renders grasp decisions based on a single deterministic shape estimate unreliable. From a…
In this study, we introduce a deep-learning approach for determining both the 6DoF pose and 3D size of strawberries, aiming to significantly augment robotic harvesting efficiency. Our model was trained on a synthetic strawberry dataset,…
As global demand for fruits and vegetables continues to rise, the agricultural industry faces challenges in securing adequate labor. Robotic harvesting devices offer a promising solution to solve this issue. However, harvesting delicate…
Strawberry harvesting robots faced persistent challenges such as low integration of visual perception, fruit-gripper misalignment, empty grasping/misgrasp, and strawberry slippage from the gripper due to insufficient gripping force, all of…
Due to labor shortage and rising labor cost for the apple industry, there is an urgent need for the development of robotic systems to efficiently and autonomously harvest apples. In this paper, we present a system overview and algorithm…
In the robotic crop harvesting environment, foreign objects intrusion in the gripper workspace is frequently occurring and unignorable, however, rarely addressed. This paper presents a novel intelligent robotic grasping method capable of…
In this paper, a novel tool prototype for harvesting table-top grown strawberries is presented. With robustness against strawberry localization error of 15mm and average cycle time of 8.02 seconds at 50% of maximum operational velocity, it…
Robotic fruit harvesting often fails to reliably detect whether a fruit has been successfully picked, limiting efficiency and increasing crop damage. This problem is difficult due to compliant fruit and grippers, variable stem attachment,…
This paper presents a comprehensive review of ground agricultural robotic systems and applications with special focus on harvesting that span research and commercial products and results, as well as their enabling technologies. The majority…
This study proposed a YOLOv5-based custom object detection model to detect strawberries in an outdoor environment. The original architecture of the YOLOv5s was modified by replacing the C3 module with the C2f module in the backbone network,…