A Field-Tested Harvesting Robot for Oyster Mushroom in Greenhouse

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