This paper presents the design and implementation of an autonomous picking robot specifically for harvesting elongated fruits such as loofahs and bitter melons. The robot utilizes a tracked chassis to navigate field terrains, equipped with IMU and GNSS modules for navigation and positioning. Mounted on the chassis is a 6-degree-of-freedom robotic arm designed for picking actions, with a combination of a flexible gripper and electric scissors at its end to enhance picking efficiency and safety. Two RGBD cameras are used for global and local perception, while the YOLO model is employed for fruit recognition and localization. Experimental results demonstrate that the robot can complete a full picking cycle in an average of 20 seconds and temporarily store the harvested fruits in an onboard storage bin. Overall, this picking robot significantly reduces labor costs and improves the efficiency and quality of field operations and fruit harvesting.


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    Title :

    Autonomous picking robot for elongated fruits and vegetables


    Contributors:
    Malik, Hasmat (editor) / Gao, Yang (author) / Shuai, Wei (author) / Cui, Guowei (author) / Wu, Peichen (author) / Gan, Lin (author) / Chen, Xiaoping (author)

    Conference:

    Third International Conference on Electrical, Electronics, and Information Engineering (EEIE 2024) ; 2024 ; Wuhan, China


    Published in:

    Proc. SPIE ; 13512


    Publication date :

    2025-01-31





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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