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.
翻译:本文件介绍了对地面农业机器人系统和应用的全面审查,特别侧重于包括研究和商业产品和成果及其赋能技术的收获以及它们的赋能技术。大多数文献涉及作物探测、通过视觉进行实地导航及其相关挑战的开发。健康监测、产量估计、水状况检查、种子种植和除草经常遇到各种任务。关于机械采集、苹果、草莓、番茄和甜辣椒,主要是出版物、研究项目和商业产品中考虑的作物。据报告的农业机器人方法,通常包括移动平台、单一机器人手臂/操纵器和各种导航/视觉系统。本文回顾了具体功能和硬件的开发,通常是操作农业机器人采集器所需要的;其中包括:(a) 视觉系统,(b) 运动规划/导航方法(机器人平台和/或手臂);(c) 人类机器人-互动(HRI) 3D直观化战略;(d) 系统操作规划和掌握战略,以及(e) 机器人终端效应/磁性设计。显然,自动化农业,特别是通过机器人系统进行自主采集是一个开放的研究领域。