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Litchi is a highly favored fruit with high economic value. Mechanical automation of litchi picking is a key link for improving the quality and efficiency of litchi harvesting. Our research team has been conducting experiments to develop a visual-based litchi picking robot. However, in the early physical prototype experiments, we found that, although picking points were successfully located, litchi picking failed due to random obstructions of the picking points. In this study, the physical prototype of the litchi picking robot previously developed by our research team was upgraded by integrating a visual system for actively removing obstructions. A framework for an artificial intelligence algorithm was proposed for a robot vision system to locate picking points and to identify obstruction situations at picking points. An intelligent control algorithm was developed to control the obstruction removal device to implement obstruction removal operations by combining with the obstruction situation at the picking point. Based on the spatial redundancy of a picking point and the obstruction, the feeding posture of the robot was determined. The experiment showed that the precision of segmenting litchi fruits and branches was 88.1%, the recognition success rate of picking point recognition was 88%, the average error of picking point localization was 2.8511 mm, and an overall success rate of end-effector feeding was 81.3%. These results showed that the developed litchi picking robot could effectively implement obstruction removal.
Wang et al. (Sat,) studied this question.
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