In this paper, a novel tool prototype for harvesting table-top grown strawberries is presented. With robustness against strawberry localization error of 15mm and average cycle time of 8.02 seconds at 50% of maximum operational velocity, it provides a promising contribution towards full automation of strawberry harvesting. In addition, the tool has an overall fruit-interacting width of 35mm that greatly enhances reach-ability due to the minimal footprint. A complete harvesting system is also proposed that can be readily mounted to a mobile platform for field tests. An experimental demonstration is performed to showcase the new methodology and derive relevant metrics.

翻译：本文介绍了一种用于采摘桌面栽培草莓的新型工具原型。该工具对草莓定位误差具有15毫米的鲁棒性，在最高运行速度的50%下平均采摘周期为8.02秒，为草莓采摘的全自动化提供了有前景的贡献。此外，该工具的整体果实交互宽度为35毫米，得益于其极小的占地面积，显著增强了可达性。本文还提出了一套完整的采摘系统，可便捷地安装于移动平台用于田间测试。通过实验演示验证了新方法并提取了相关性能指标。