Autonomous tomato harvesting robot using YOLO model

Shahbaz, Muhammad Sikander (avtor), Aqeel, Muhammad (avtor), Iqbal, Muhammad (avtor), Sargana, Hussain Mahmood (avtor), Gull, Areesha (avtor)

Manually harvesting tomatoes is costly and time-consuming. This work proposes a tomato-harvesting robot to solve the time lapse. This work centers on the motion integration of a four-wheel steering system for robots. A collection of 1268 photos of ripe and unripe tomatoes was assembled in this work. By applying image preprocessing methods such as rotation, flipping, and resizing, we have increased and improved the size and quality of the dataset. The two primary components of our study are location detection and tomato identification. The former uses a focal length stereo vision cam-era to estimate tomatoes’ depth and stream live video in real time. We compute the 3D position and angle of the robotic arm through servo motors to reach target points using inverse kinematics. With 94 % harvesting efficiency, our system harvests ripe tomatoes in less than 8 seconds and stores them in a storage tank. For the detection and classification of ripe and un-ripe tomatoes, YOLOv5s, YOLOv8s, YOLOv9s, and YOLOv10s were used. Accuracy, precision, and recall were used to evaluate model performance; YOLOv8s is found to have the best evalu-ation metrics.

• Jezik: Angleški jezik
• Ključne besede: inverse kinematics, stereo vision, tomato harvesting robot, YOLO
• Vrsta gradiva: Članek v reviji
• Tipologija: 1.01 - Izvirni znanstveni članek
• Organizacija: BF - Biotehniška fakulteta
• Status publikacije: Objavljeno
• Različica publikacije: Objavljena publikacija
• Leto izida: 2026
• Št. strani: 12 str.
• Številčenje: Vol. 122, no. 3
• PID: 20.500.12556/RUL-189406
• UDK: 635
• ISSN pri članku: 1854-1941
• DOI: 10.14720/aas.2026.122.3.21385
• COBISS.SI-ID: 293853443
• Datum objave v RUL: 06.10.2026

Gradivo je del revije

• Naslov: Acta agriculturae Slovenica
• Založnik: Biotehniška fakulteta, Oddelek za agronomijo in Oddelek za zootehniko, Biotehniška fakulteta, Oddelek za agronomijo in Oddelek za zootehniko, Univerza v Ljubljani, Biotehniška fakulteta, Založba Univerze v Ljubljani
• ISSN: 1854-1941
• COBISS.SI-ID: 219581184

Licence

• Licenca: CC BY 4.0, Creative Commons Priznanje avtorstva 4.0 Mednarodna
• Povezava: http://creativecommons.org/licenses/by/4.0/deed.sl
• Opis: To je standardna licenca Creative Commons, ki daje uporabnikom največ možnosti za nadaljnjo uporabo dela, pri čemer morajo navesti avtorja.

Sekundarni jezik

• Jezik: Slovenski jezik
• Naslov: Avtonomni robot za obiranje paradižnika z uporabo modela YOLO
• Ključne besede: inverzna kinematika, stereo vid, robot za obiranje paradižnikov