Aug 2026· International Conference on Advanced Mechatronic Systems· pp. 43-48· 0 citations· 13 references
Abstract
Robotic tomato harvesting is crucial for addressing agricultural labor shortages. However, existing systems struggle with optimal order planning in dense clusters and erroneous motions caused by false detections. We propose a robotic harvesting system evaluated in a controlled setting with artificial tomatoes, making three main contributions: (i) a score-based harvesting order planning algorithm that integrates isolation, height, clustercentroid distance, and depth scores; (ii) a data augmentation strategy for YOLOv8, evaluated through an ablation study of 16 augmentation combinations; and (iii) a system-level false detection handling mechanism. In horizontally adjacent settings, our order planning achieves a 65.0% success rate, outperforming random (30.0%) and nearest-neighbor (45.0%) baselines. HSV augmentation alone achieves the best mAP@0.5:0.95 of 0.9250, and the integrated false detection handling mechanism reduces false positives by 87.9% without requiring detector retraining.
In addressing the high labor costs and low operational efficiency of greenhouse tomato harvesting and separate packaging workflows, this study develops an integrated tomato harvesting robotic system embedded with RGB-D machine vision, 5-degree-of-freedom manipulator and vertical heat-sealing net bag packaging mechanism...
Yan-Hua Ying, Dongya Li, Jia-Hui Hu et al.· INMATEH Agricultural Enginee...· 0 citations
Date palm harvesting is a labor-intensive and hazardous agricultural operation due to the height of palm trees, dense canopy structures, and the need for precise cutting of fruiting branches. Enabling autonomous harvesting in such environments requires robust, real-time perception systems capable of operating under occ...
Ahlem Maghzaoui, Naeem Ayoub, Emna Aridhi et al.· IEEE Transactions on AgriFoo...· 0 citations
With the rapid expansion of modern facility agriculture, harvesting robots for tomato (Solanum lycopersicum L.) and other solanaceous fruits have become key equipment for alleviating labor shortages. However, in unstructured greenhouse and open-field scenarios, branch and leaf occlusion, overlapping fruit clusters, var...
Yuxuan Chen, Jian-Peng Jing, Bin Li et al.· Agriculture· 0 citations
Robotic apple harvesting in cluttered orchards is challenging because target fruits are often located in narrow spaces surrounded by branches, support wires, and other obstacles. In such obstacle-constrained environments, motion planning must not only generate collision-free trajectories but also ensure sufficient effi...
Tan-Tan Jin, Xiong-Zhe Han· Journal of King Saud Univers...· 0 citations
Sweet pepper is a high-value crop in protected horticulture whose robotic harvesting is complicated by canopy occlusion, asynchronous ripening, the need for precise peduncle cutting, and stringent damage limits. This review presents a systematic search and narrative synthesis guided by the Preferred Reporting Items for...
Rui Zhang, Ya-Peng Wu, Ting-Rui Cui et al.· Machines· 0 citations
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