{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,18]],"date-time":"2025-10-18T10:59:31Z","timestamp":1760785171387,"version":"3.41.2"},"reference-count":20,"publisher":"Emerald","issue":"2","license":[{"start":{"date-parts":[[2024,1,22]],"date-time":"2024-01-22T00:00:00Z","timestamp":1705881600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2024,2,23]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>The purpose of this article is to solve the issue that apple-picking robots are easily interfered by branches or other apples near the target apple in an unstructured environment, leading to grasping failure and apple damage.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>This study introduces the system units of the apple-picking robot prototype, proposes a method to determine the apple-picking direction via 3D point cloud data and optimizes the path planning method according to the calculated picking direction.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>After the field experiments, the average deviation of the calculated picking direction from the desired angle was 11.81\u00b0, the apple picking success rate was 82% and the picking cycle was 11.1\u2009s.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>This paper describes a picking control method for an apple-picking robot that can improve the success and reliability of picking in an unstructured environment and provides a basis for automated and mechanized picking in the future.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-11-2023-0282","type":"journal-article","created":{"date-parts":[[2024,1,18]],"date-time":"2024-01-18T03:45:56Z","timestamp":1705549556000},"page":"369-379","source":"Crossref","is-referenced-by-count":5,"title":["Research on system integration and control methods of an apple-picking robot in unstructured environment"],"prefix":"10.1108","volume":"51","author":[{"given":"Qiaojun","family":"Zhou","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ruilong","family":"Gao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zenghong","family":"Ma","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Gonghao","family":"Cao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jianneng","family":"Chen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","published-online":{"date-parts":[[2024,1,22]]},"reference":[{"key":"key2024022210030812700_ref001","first-page":"531","article-title":"Autonomous fruit picking machine: a robotic apple harvester","volume-title":"6th International Conference on Field and Service Robotics-FSR Springer","year":"2008"},{"issue":"1","key":"key2024022210030812700_ref002","first-page":"203","article-title":"Fruit detection system and an end effector for robotic harvesting of Fuji apples","volume":"12","year":"2010","journal-title":"Agricultural Engineering International: CIGR Journal"},{"issue":"1","key":"key2024022210030812700_ref003","first-page":"105","article-title":"RRT-based path planning for an intelligent litchi-picking manipulator","volume":"156","year":"2019","journal-title":"Computers and Electronics in Agriculture"},{"issue":"4","key":"key2024022210030812700_ref004","first-page":"1","article-title":"Current status and future development of the key technologies for apple picking robots","volume":"39","year":"2023","journal-title":"Transactions of the CSAE"},{"issue":"2","key":"key2024022210030812700_ref005","doi-asserted-by":"crossref","first-page":"21","DOI":"10.1007\/s10846-022-01793-z","article-title":"A survey of robotic harvesting systems and enabling technologies","volume":"107","year":"2023","journal-title":"Journal of Intelligent & Robotic Systems"},{"key":"key2024022210030812700_ref006","doi-asserted-by":"crossref","first-page":"106099","DOI":"10.1016\/j.engappai.2023.106099","article-title":"Trajectory planning for a 6-axis robotic arm with particle swarm optimization algorithm","volume":"122","year":"2023","journal-title":"Engineering Applications of Artificial Intelligence"},{"issue":"8","key":"key2024022210030812700_ref007","doi-asserted-by":"crossref","first-page":"1170","DOI":"10.3390\/agriculture12081170","article-title":"An algorithm for calculating apple picking direction based on 3D vision","volume":"12","year":"2022","journal-title":"Agriculture"},{"issue":"2","key":"key2024022210030812700_ref008","first-page":"404","article-title":"Design and field evaluation of a robot apple harvesting system with 3D printed soft-robotic end-effector","volume":"62","year":"2019","journal-title":"Transactions of the ASABE"},{"key":"key2024022210030812700_ref009","doi-asserted-by":"crossref","first-page":"107177","DOI":"10.1016\/j.compag.2022.107177","article-title":"Simplified 4-DOF manipulator for rapid robotic apple harvesting","volume":"199","year":"2022","journal-title":"Computers and Electronics in Agriculture"},{"issue":"7","key":"key2024022210030812700_ref010","first-page":"1","article-title":"Current status and development trends of agricultural robots","volume":"53","year":"2022","journal-title":"Transactions of the CSAM"},{"issue":"2","key":"key2024022210030812700_ref011","doi-asserted-by":"crossref","first-page":"392","DOI":"10.1051\/jnwpu\/20203820392","article-title":"An obstacle avoidance algorithm for manipulators based on six\u2212order polynomial trajectory planning","volume":"38","year":"2020","journal-title":"Xibei Gongye Daxue Xuebao\/Journal of Northwestern Polytechnical University"},{"issue":"8","key":"key2024022210030812700_ref012","first-page":"2022","article-title":"USAC: a universal framework for random sample consensus","volume":"35","year":"2012","journal-title":"IEEE Transactions on Pattern Analysis and Machine Intelligence"},{"key":"key2024022210030812700_ref013","first-page":"1","article-title":"Towards autonomous selective harvesting: a review of robot perception, robot design, motion planning and control","year":"2023","journal-title":"Journal of Field Robotics"},{"issue":"6","key":"key2024022210030812700_ref014","doi-asserted-by":"crossref","first-page":"1140","DOI":"10.1002\/rob.21715","article-title":"Design, integration, and field evaluation of a robotic apple harvester","volume":"34","year":"2017","journal-title":"Journal of Field Robotics"},{"issue":"4","key":"key2024022210030812700_ref015","first-page":"55","article-title":"Obstacle avoidance path planning of hybrid harvesting manipulator based on joint configuration space","volume":"33","year":"2017","journal-title":"Transactions of the CSAE"},{"issue":"9","key":"key2024022210030812700_ref016","first-page":"1","article-title":"Research of robotics selective harvesting technologies","volume":"51","year":"2020","journal-title":"Transactions of the CSAM"},{"issue":"2","key":"key2024022210030812700_ref017","doi-asserted-by":"crossref","first-page":"178","DOI":"10.1007\/s42853-023-00184-y","article-title":"Performance analysis of path planning algorithms for fruit harvesting robot","volume":"48","year":"2023","journal-title":"Journal of Biosystems Engineering"},{"key":"key2024022210030812700_ref018","doi-asserted-by":"crossref","first-page":"105606","DOI":"10.1016\/j.compag.2020.105606","article-title":"Technology progress in mechanical harvest of fresh market apples","volume":"175","year":"2020","journal-title":"Computers and Electronics in Agriculture"},{"key":"key2024022210030812700_ref019","doi-asserted-by":"crossref","first-page":"102644","DOI":"10.1016\/j.mechatronics.2021.102644","article-title":"System design and control of an apple harvesting robot","volume":"79","year":"2021","journal-title":"Mechatronics"},{"issue":"2","key":"key2024022210030812700_ref020","doi-asserted-by":"crossref","first-page":"112","DOI":"10.1016\/j.biosystemseng.2011.07.005","article-title":"Design and control of an apple harvesting robot","volume":"110","year":"2011","journal-title":"Biosystems Engineering"}],"container-title":["Industrial Robot: the international journal of robotics research and application"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-11-2023-0282\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-11-2023-0282\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T21:40:29Z","timestamp":1753393229000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/51\/2\/369-379\/1226951"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,1,22]]},"references-count":20,"journal-issue":{"issue":"2","published-online":{"date-parts":[[2024,1,22]]},"published-print":{"date-parts":[[2024,2,23]]}},"alternative-id":["10.1108\/IR-11-2023-0282"],"URL":"https:\/\/doi.org\/10.1108\/ir-11-2023-0282","relation":{},"ISSN":["0143-991X","0143-991X"],"issn-type":[{"type":"print","value":"0143-991X"},{"type":"electronic","value":"0143-991X"}],"subject":[],"published":{"date-parts":[[2024,1,22]]}}}