CLASP: 生食用ブルーベリー収穫のためのソフトローリングバンドグリッパを備えたクラスタ単位自律選択収穫ロボット
CLASP: A Cluster-Level Autonomous Selective Picking Robot with a Soft Rolling-Band Gripper for Fresh-Market Blueberry Harvesting
生食用ブルーベリーの房をソフトなローリングバンドグリッパで包み込み、成熟果実のみを選択的に引き離して収穫するクラスタ単位の自律ロボットを開発し、圃場試験で92%の把持成功率を達成した。
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著者: Yixuan Xia, Yilin Cai, Natalia Belen Espinoza, Changying Li, Zilfina Rubio Ames, Xin Zhang, Yue Chen
分類: cs.RO
原文アブストラクト
Fresh-market blueberries require selective, gentle picking, which is labor-intensive and expensive. Over-the-row machine harvesters are fast but non-selective, bruising mixed-ripeness fruit and limiting yield to the processing market. Selective robotic harvesters typically target individual fruits rather than fruit clusters, which limits harvesting efficiency for small, densely clustered blueberries. This paper presents CLASP, a Cluster-Level Autonomous Selective Picking robot with a Soft Active Rolling-Band Gripper (SARB-Gripper). Two compliant bands envelop the cluster and roll against the fruit, drawing mature berries off in sequence, while closed-loop regulation of the pulling force keeps the applied load below the immature detachment threshold. A global-to-local perception pipeline pairs an eye-to-hand camera for global cluster detection and target selection with an eye-in-hand camera for local localization and cluster orientation estimation. Field measurements confirm a clear detachment-force separation between mature and immature fruit, and the SARB-Gripper reproduces a commanded pulling force to within \SI{3.7}{\percent}, enabling selective harvesting at the cluster level. In end-to-end field trials, CLASP autonomously grasped 23 of 25 presented clusters (\SI{92}{\percent}). With the component cost of approximately \$3326 per unit, CLASP offers a scalable approach to selective cluster-level harvesting for fresh-market blueberries.