A Survey of Robotic Harvesting Systems and Enabling Technologies

被引：35

作者：

Droukas, Leonidas ^{[1
]}

Doulgeri, Zoe ^{[1
]}

Tsakiridis, Nikolaos L. L. ^{[1
]}

Triantafyllou, Dimitra ^{[2
]}

Kleitsiotis, Ioannis ^{[2
]}

Mariolis, Ioannis ^{[2
]}

Giakoumis, Dimitrios ^{[2
]}

Tzovaras, Dimitrios ^{[2
]}

Kateris, Dimitrios ^{[3
]}

Bochtis, Dionysis ^{[3
]}

机构：

[1] Aristotle Univ Thessaloniki AUTH, Dept Elect & Comp Engn, Thessaloniki 54124, Greece

[2] Ctr Res & Technol Hellas CERTH, Informat Technol Inst ITI, Thessaloniki 57001, Greece

[3] Ctr Res & Technol Hellas CERTH, Inst Bioecon & Agritechnol iBO, Volos 38333, Greece

来源：

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 2023年 / 107卷 / 02期

关键词：

Robotic harvesting; Automated agriculture; Agricultural functionalities; State-of-art review; SHOP SCHEDULING PROBLEM; FORM-CLOSURE GRASPS; AGRICULTURAL ROBOT; VISUAL-PERCEPTION; FIELD OPERATIONS; YIELD ESTIMATION; SOLUBLE SOLIDS; GRIPPER DESIGN; SERVO CONTROL; ALGORITHM;

D O I：

10.1007/s10846-022-01793-z

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

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 of literature concerns the development of crop detection, field navigation via vision and their related challenges. Health monitoring, yield estimation, water status inspection, seed planting and weed removal are frequently encountered tasks. Regarding robotic harvesting, apples, strawberries, tomatoes and sweet peppers are mainly the crops considered in publications, research projects and commercial products. The reported harvesting agricultural robotic solutions, typically consist of a mobile platform, a single robotic arm/manipulator and various navigation/vision systems. This paper reviews reported development of specific functionalities and hardware, typically required by an operating agricultural robot harvester; they include (a) vision systems, (b) motion planning/navigation methodologies (for the robotic platform and/or arm), (c) Human-Robot-Interaction (HRI) strategies with 3D visualization, (d) system operation planning & grasping strategies and (e) robotic end-effector/gripper design. Clearly, automated agriculture and specifically autonomous harvesting via robotic systems is a research area that remains wide open, offering several challenges where new contributions can be made.

引用

页数：29

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