Design and experiment of a new citrus harvesting robot

In order to solve the problem of high labour consumption and low efficiency of artificial citrus harvesting, this paper introduces the design and experiment of a new citrus harvesting robot. The robot is mainly composed of a mechanical arm and a caterpillar mobile platform. The end of the arm is equipped with a depth camera and an end effector specially designed for citrus harvesting. Coordinated control of various institutions and systems is carried out through the upper computer. The citrus harvesting robot achieves the whole process of autonomous harvesting. The success rate of the citrus harvesting robot is more than 90% and the average period of citrus harvesting is 15s/fruit tested in laboratory environment. This design of citrus harvesting robot provides a new implementation mode for the harvesting operation of the harvesting robot in natural environment.