Robotic Mass Removal of Citrus Fruits

Most citrus is harvested by hand. The resulting high cost in the U.S. is a burden to growers and positions them at a disadvantage to overseas competitors with low labor costs. Automated methods are needed to ensure the long-term viability and prosperity of the U.S. citrus industry. Energid Technologies proposes a new harvesting approach that combines robotic technologies with the efficiency of mass removal methods. It uses a system of many cameras and flexible picking mechanisms that are integrated and controlled through a powerful computer infrastructure. Objectives during the project are the following: refine the existing design of the picking mechanisms and end effectors, explore new end effector types, refine and implement a vision system, design and implement a high-level control system, and build a full prototype including picking mechanisms mounted on a truck. The expected result of this research is a system that harvests a high percentage of the fruit on the tree without damaging the tree or requiring grove modification while being cost effective. This technology will enable the development of multiple commercial products to address the immediate needs of citrus growers. It will ultimately help growers of other crops as well. The approach will allow a reduction in system cost and maintenance costs to the level of commercial viability. The anticipated outcome is near-term harvesting systems taken to market immediately that address the most lucrative commercial niches and long-term systems that transform the way citrus and other crops are harvested and improve the economics of U.S. farming.