Authors

Abstract

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. The YOLOv8s lightweight detection model trained on self-built multi-light greenhouse tomato dataset (1260 annotated images covering unobstructed, semi-occluded and heavily occluded fruits) is adopted to identify ripe tomatoes with a recognition accuracy of 95.2%, and ImageJ software is introduced to conduct secondary maturity screening via RGB chromatographic analysis. A* global path planning combined with TEB local trajectory optimization realizes autonomous obstacle avoidance navigation of the wheeled mobile platform, while RRT-Connect bidirectional random tree algorithm is applied for obstacle-free grasping trajectory planning inside dense tomato canopies. A total of 120 valid cyclic tests are carried out in simulated greenhouse environment to verify the full-chain automation including fruit detection, in-situ picking and instant bagging. Experimental results show that the average single-fruit processing cycle is 12.1 s, with a picking success rate of 90.8% and bagging success rate of 98.3%. Compared with skilled manual picking and packaging, the overall working efficiency is improved by approximately 30%. This system firstly realizes continuous integrated harvesting and commercial packaging operation for greenhouse tomatoes, providing a feasible technical solution for full-process intelligent protected agriculture.

Abstract in Chinese

针对温室番茄采摘、包装分离作业带来的高人力成本与低效问题，本文研发一套集成 RGB-D 机器视觉、五自由度机械臂与立式热封网袋包装机构的一体化番茄采收机器人。系统采用 YOLOv8s 轻量化检测模型，基于自建多光照温室番茄数据集（1260 张标注图像，覆盖无遮挡、半遮挡、重度遮挡样本）实现成熟番茄识别，识别精度 95.2%；配套 ImageJ 软件通过 RGB 色谱分析完成果实成熟度二次校验。采用 A * 全局路径规划结合 TEB 局部轨迹优化实现轮式移动底盘自主避障导航，RRT-Connect 双向随机树算法完成密植冠层内无碰撞抓取轨迹规划。在模拟温室环境完成 120 组完整循环试验，验证识别、就地采摘、即时套袋全流程自动化。试验结果表明，机器人单果平均处理周期 12.1 秒，采摘成功率 90.8%，套袋成功率 98.3%；相较熟练人工采摘包装综合效率提升约 30%。本系统首次实现温室番茄采收与商品化包装连续一体化作业，为设施农业全程智能化提供可行技术方案。