The fully autonomous harvesting of oyster mushrooms in the greenhouse requires the development of a reliable and robust harvesting robot. In this paper, we propose an oyster-mushroom-harvesting robot, which can realize harvesting operations in the entire greenhouse. The two crucial components of the harvesting robot are the perception module and the end-effector. Intel RealSense D435i is adopted to collect RGB images and point cloud images in real time; an improved SSD algorithm is proposed to detect mushrooms, and finally, the existing soft gripper is manipulated to grasp oyster mushrooms. Field experiments exhibit the feasibility and robustness of the proposed robot system, in which the success rate of the mushroom recognition success rate reaches 95%, the harvesting success rate reaches 86.8% (without considering mushroom damage), and the harvesting time for a single mushroom is 8.85 s.

中文翻译：

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一种经过现场测试的温室牡蛎蘑菇收获机器人

在温室中完全自主地收获平菇需要开发可靠且坚固的收获机器人。在本文中，我们提出了一种牡蛎蘑菇收获机器人，它可以实现整个温室的收获作业。收割机器人的两个关键组件是感知模块和末端执行器。采用Intel RealSense D435i实时采集RGB图像和点云图像；提出了一种改进的SSD算法来检测蘑菇，最后，操纵现有的软爪来抓取平菇。现场实验证明了该机器人系统的可行性和鲁棒性，蘑菇识别成功率达到95%，收获成功率达到86.8%（不考虑蘑菇损伤），