CLASP：一种用于鲜食蓝莓收获的带有软滚动带夹持器的簇级自主选择性采摘机器人
CLASP: A Cluster-Level Autonomous Selective Picking Robot with a Soft Rolling-Band Gripper for Fresh-Market Blueberry Harvesting
- Georgia Institute of Technology（佐治亚理工学院）
- University of Georgia（佐治亚大学）
- University of Florida（佛罗里达大学）
- Emory University（埃默里大学）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
针对鲜食蓝莓选择性采摘效率低的问题，提出带软滚动带夹持器的簇级机器人CLASP，通过簇级抓取与闭环拉力控制实现92%抓取成功率，成本约3326美元。
AI中文摘要：
鲜食蓝莓需要选择性、轻柔的采摘，这既劳动密集又成本高昂。跨行式机器收割机速度快，但非选择性，会碰伤成熟度不均的果实，并将产量限制在加工市场。选择性机器人收割机通常针对单个果实而非果实簇，这限制了小而密集簇生蓝莓的收获效率。本文介绍了CLASP，一种带有软主动滚动带夹持器（SARB-Gripper）的簇级自主选择性采摘机器人。两条柔性带包裹住果实簇并滚动接触果实，依次摘下成熟浆果，同时闭环调节拉力，使施加的载荷低于未成熟果实脱离的阈值。一种从全局到局部的感知流程，将用于全局簇检测和目标选择的眼对手相机与用于局部定位和簇方向估计的眼在手相机配对。田间测量证实了成熟与未成熟果实之间明显的脱离力分离，SARB-Gripper能将指令拉力复现到3.7%的精度内，从而在簇级实现选择性采摘。在端到端田间试验中，CLASP自主抓取了25个呈现簇中的23个（92%）。以每台约3326美元的单件成本，CLASP为鲜食蓝莓的可扩展簇级选择性收获提供了一种可行方法。
英文摘要：
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.
