“Every apple deserves an individual approach.”
High performance
High productivity is achieved through the use of six specially designed manipulators — three on each side of the machine — optimized for operation in orchard conditions and fruiting wall systems. Thanks to a full scan of the picking area (approximately 3 × 3 m on each side of the row), all manipulators can operate simultaneously, with the ability to cooperate whenever needed. This approach enables efficient process organization and ensures high overall productivity.
High precision and efficiency
High precision is achieved through the combination of camera images and LiDAR data, which together create an accurate three-dimensional model of the environment. Advanced artificial intelligence algorithms enable not only apple detection, but also precise determination of each fruit’s position and center in space. In practice, this means reliable detection of every apple and accurate localization regardless of operating conditions.
The picking technique was developed through the analysis of real interactions between the apple, stem, branch, and the tree as a whole. This enables a high level of effectiveness. The approach is inspired by proven human harvesting practices rather than methods that are merely “convenient” for robots.
Thanks to the use of multi-jointed manipulators, complex motion paths can be executed and adapted to the specific situation of each individual fruit. The picking strategy is applied separately to every apple, taking into account not only its position, but also an analysis of its surroundings — including branches, leaves, and fruit orientation. Based on this information, an individual decision is made for each apple regarding the optimal way to harvest it.
The complete harvesting process – from tree to bin
Manipulator movements are executed in a controlled and smooth manner, allowing safe approach to the fruit and gentle withdrawal without risk of damage. Motion paths are adjusted to the position of each apple and its surroundings, helping to avoid contact with branches and other obstacles. After picking, the apples are carefully placed in designated locations with full control of movement and speed, ensuring safe and orderly transfer for further transport.
The machine is equipped with a quality control system that inspects every apple from all sides before it is placed into the bin. Using an advanced fruit evaluation system based on machine vision, only apples that meet defined quality standards are stored in the bin. Defective fruit is automatically rejected, preventing any negative impact on the remaining stored apples.
The machine is equipped with a system of horizontal conveyors that transport the apples through its interior, as well as a vertical conveyor that moves up and down and can be lowered directly into the bin. At the end of the system, a specially designed distributing wheel gently and evenly spreads the fruit inside the bin. This solution ensures controlled and organized loading, minimizes the risk of damage, and allows optimal use of the available space.
Contact details
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Project co-financed by the National Centre for Research and Development as part of the Infostrateg programme
Link to the project information page: https://https://nkautomatyka.pl/en/infostrateg_en/
