ArticleBiomimetics (Basel, Switzerland)2024
Apple-Harvesting Robot Based on the YOLOv5-RACF Model.
Article in Biomimetics (Basel, Switzerland), 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 4 papers.
What it found
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The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
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Who cites it
4 citing papers in PubMed.
- End-Effector Technologies for Fruit Harvesting Robots: A Review of Structures, Actuation, and Field Deployability.Sensors (Basel, Switzerland) · 2026Review
- MSRRT-DETR: A high-precision apple detection method with strong cross-domain generalization capability in complex orchard scenes.PloS one · 2026Article
- Task-Parceling and Synchronous Retrieval Scheme for Twin-Arm Orchard Apple Tree Automaton.Plants (Basel, Switzerland) · 2025Article
- Tea Bud Detection Model in a Real Picking Environment Based on an Improved YOLOv5.Biomimetics (Basel, Switzerland) · 2024Article
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
6 authors.
Funding
Abstract
To address the issue of automated apple harvesting in orchards, we propose a YOLOv5-RACF algorithm for identifying apples and calculating apple diameters. This algorithm employs the robot operating dystem (ROS) to control the robot's locomotion system, Lidar mapping, and navigation, as well as the robotic arm's posture and grasping operations, achieving automated apple harvesting and placement. The tests were conducted in an actual orchard environment. The algorithm model achieved an average apple detection accuracy (mAP@0.5) of 98.748% and a (mAP@0.5:0.95) of 90.02%. The time to calculate the diameter of one apple was 0.13 s, with a measurement accuracy within an error range of 1-3 mm. The robot takes an average of 9 s to pick an apple and return to the initial pose. These results demonstrate the system's efficiency and reliability in real agricultural environments.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.