As a high-value fruit crop grown worldwide, apples require efficient harvesting solutions to maintain a stable supply. Intelligent harvesting robots represent a promising approach to address labour shortages. This study introduced a Cartesian robot integrated with a continuous-picking end-effector, providing a cost-effective and mechanically simpler alternative to complex articulated arms. The system employed a hand–eye calibration model to enhance positioning accuracy. To overcome the inefficiencies resulting from disordered harvesting sequences and excessive motion trajectories, the harvesting process was treated as a travelling salesman problem (TSP). The conventional fixed-plane return trajectory of Cartesian robots was enhanced using a three-dimensional continuous picking path strategy based on a fixed retraction distance (H). The value of H was determined through mechanical characterization of the apple stem’s brittle fracture, which eliminated redundant horizontal displacements and improved operational efficiency. Furthermore, an improved grey wolf optimizer (IGWO) was proposed for multi-fruit path planning. Simulations demonstrated that the IGWO achieved shorter path lengths compared to conventional algorithms. Laboratory experiments validated that the system successfully achieved vision-based localization and fruit harvesting through optimal path planning, with a fruit picking success rate of 89%. The proposed methodology provides a practical framework for automated continuous harvesting systems.
Wang et al. (Thu,) studied this question.