Autonomous apple picking with ReBeL robot

This research project investigates the application of autonomous fruit picking in a controlled, simulated trellis apple orchard environment. The orchard consists of apple trees growing flat against vertical trellises, mimicking the structured arrangement common in commercial orchards. The mobile robotic platform, equipped with the Igus ReBeL 6-DOF robotic arm and advanced sensing capabilities, navigates through the rows of the orchard, accurately identifying and harvesting ripe apples. The system uses a stereo depth camera for perception and a soft pneumatic gripper to grasp the fruit on the tree.

The autonomous fruit picking system addresses challenges such as labour shortages, rising costs, ergonomic concerns, consistency and quality as well as sustainability. It optimises the distribution of work, reduces costs, increases efficiency and improves working conditions. By automating the repetitive and strenuous task of fruit picking, human workers can focus on higher value tasks. The system works tirelessly and harvests around the clock, maximising yield and minimising the risk of crop loss. The precise gripping mechanism ensures that the fruit is not damaged, which improves the overall quality. The automation of dangerous and physically demanding tasks also improves the safety and well-being of the workers.