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Robotic picking of citrus

Published online by Cambridge University Press:  09 March 2009

R.C. Harrell ,
P.D. Adsit ,
R.D. Munilla  and
D.C. Slaughter
R.C. Harrell
Affiliation:
University of Florida, Agricultural Engineering Department, Gainesville, Florida 32611 (U.S.A.)
P.D. Adsit
Affiliation:
University of Florida, Agricultural Engineering Department, Gainesville, Florida 32611 (U.S.A.)
R.D. Munilla
Affiliation:
University of Florida, Agricultural Engineering Department, Gainesville, Florida 32611 (U.S.A.)
D.C. Slaughter
Affiliation:
University of Florida, Agricultural Engineering Department, Gainesville, Florida 32611 (U.S.A.)
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Summary

A prototype robot for picking citrus is described which utilized real-time, color machine vision to vision-servo the robot on a targeted fruit. A programming technique is presented which simplified development of the task-level, robot control program. An economic evaluation of robotic harvesting in Florida determined that robotic harvesting would be approximately 50 percent more expensive than conventional hand harvesting. Harvest inefficiency was identified as the most influential factor affecting robotic harvesting economics. Field trial performance is summarized and the potential of commercial robotic harvesting discussed.

Keywords

Citrus pickingMachine visionRobotic harvesting
Type
Article
Information
Robotica , Volume 8 , Issue 4 , October 1990 , pp. 269 - 278
Copyright
Copyright © Cambridge University Press 1990

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References

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