Harvest-Bot: precision harvesting of pepper (Capsicum annuum L.) varieties in a greenhouse

Efficient and precise harvesting of peppers requires advanced identification and handling techniques, which can be optimized using robotics and imaging technologies. This study presents the development of Harvest-Bot, an autonomous pepper-harvesting system utilizing the Yahboom ROSMASTER X3 robot. The robot is equipped with a robotic arm and a camera mounted on the end effector for enhanced orientation and precision in pepper plucking. Additionally, an Orbec Astra Pro RGB-D camera, integrated with Yolov8, is used for detecting pepper varieties and counting the number of peppers per plant. To ensure accurate manipulation of the robotic arm, Peter Corke’s Robotics Toolbox in Python was employed for forward and inverse kinematics calculations based on Denavit-Hartenberg (DH) parameters. This allows precise control of the robotic arm, facilitating effective harvesting by targeting the exact location of the peppers in 3D space. The dual-camera setup enhances both the orientation and variety detection capabilities, allowing the robot to make informed decisions during the harvesting process. Preliminary results show that the YOLOv8 model achieved a 70% accuracy in detecting pepper varieties and their orientations, while the Astra S Pro camera provided reliable 3D positional data for precise robotic movements. The integration of these technologies significantly improved the efficiency and precision of the harvesting process, reducing labor costs and increasing productivity in greenhouse environments. Future work will focus on refining the detection algorithms for improved accuracy, as well as expanding the system’s applicability to other crops, positioning Harvest-Bot as a versatile tool for agricultural automation.