Precise localization of occluded fruits is crucial and challenging for robotic harvesting in orchards. Occlusions from leaves, branches, and other fruits make the point cloud acquired from Red Green Blue Depth (RGBD) cameras incomplete. Moreover, an insufficient filling rate and noise on depth images of RGBD cameras usually happen in the shade from occlusions, leading to the distortion and fragmentation of the point cloud. These challenges bring difficulties to position locating and size estimation of fruit for robotic harvesting. In this paper, a novel 3D fruit localization method is proposed based on a deep learning segmentation network and a new frustum-based point-cloud-processing method. A one-stage deep learning segmentation network is presented to locate apple fruits on RGB images. With the outputs of masks and 2D bounding boxes, a 3D viewing frustum was constructed to estimate the depth of the fruit center. By the estimation of centroid coordinates, a position and size estimation approach is proposed for partially occluded fruits to determine the approaching pose for robotic grippers. Experiments in orchards were performed, and the results demonstrated the effectiveness of the proposed method. According to 300 testing samples, with the proposed method, the median error and mean error of fruits’ locations can be reduced by 59% and 43%, compared to the conventional method. Furthermore, the approaching direction vectors can be correctly estimated.

This research presents a soft gripper for apple harvesting to provide constant-pressure clamping and avoid fruit damage during slippage, to reduce the potential danger of damage to the apple pericarp during robotic harvesting. First, a three-finger gripper based on the Fin Ray structure is developed, and the influence of varied structure parameters during gripping is discussed accordingly. Second, we develop a mechanical model of the suggested servo-driven soft gripper based on the mappings of gripping force, pulling force, and servo torque. Third, a real-time control strategy for the servo is proposed, to monitor the relative position relationship between the gripper and the fruit by an ultrasonic sensor to avoid damage from the slip between the fruit and fingers. The experimental results show that the proposed soft gripper can non-destructively grasp and separate apples. In outdoor orchard experiments, the damage rate for the grasping experiments of the gripper with the force feedback system turned on was 0%; while the force feedback system was turned off, the damage rate was 20%, averaged for slight and severe damage. The three cases of rigid fingers and soft fingers with or without slip detection under the gripper structure of this study were tested by picking 25 apple samples for each set of experiments. The picking success rate for the rigid fingers was 100% but with a damage rate of 16%; the picking success rate for soft fingers with slip detection was 80%, with no fruit skin damage; in contrast, the picking success rate for soft fingers with slip detection off increased to 96%, and the damage rate was up to 8%. The experimental results demonstrated the effectiveness of the proposed control method.

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