Development of a post-harvest conveying and loading module for apple harvesting robots

Do Yeon Im; Uk Tae Choi; Dae Hee Kim

doi:10.22765/pastj.20260010

All Issue

2026 Vol.8, Issue 2 Preview Page Next Page

Research Article

Development of a post-harvest conveying and loading module for apple harvesting robots

30 June 2026. pp. 123-129

PDF XML

Abstract

Automation of apple harvesting in open-field orchards has attracted attention as a key technology for alleviating rural labor shortages and improving harvesting efficiency. However, apples are easily damaged by impact, free fall, and localized pressure during post-harvest conveying and loading processes. Therefore, the performance of an apple harvesting robot is strongly affected not only by fruit recognition and gripping technologies but also by the stability of the post-harvest handling system. In this study, a post-harvest conveying and loading module applicable to an apple harvesting robot was developed, and an integrated control system for operating the module was implemented. The developed module consists of an infrared sensor-based fruit receiving unit, a conveyor-based conveying unit, and an iris mechanism-based loading unit. To reduce fruit impact during conveying, cushioning material was applied to the contact surface of the conveyor. During loading, the loading unit temporarily supports the fruit, moves it to the target position, and discharges it into the collection box, thereby reducing the free-fall height and localized accumulation of fruits. The developed system provides a basis for future quantitative evaluation of conveying stability, loading uniformity, and fruit damage reduction through integration with an apple harvesting robot platform.

Keywords

Agricultural robot

Apple harvesting robot

Fruit conveying module

Fruit loading module

Integrated control

References

Bac, C.W., Van Henten, E.J., Hemming, J., Edan, Y. 2014. Harvesting robots for high-value crops: State-of-the-art review and challenges ahead. Journal of Field Robotics 31(6): 888-911. https://doi.org/10.1002/rob.21525

10.1002/rob.21525

Blackmore, S., Stout, B., Wang, M., Runov, B., 2005. Robotic agriculture - The future of agricultural mechanisation?, Proceedings of the 5th European Conference on Precision Agriculture. pp.621-628, Uppsala, Sweden

10.3920/978-90-8686-549-9_077

De-An, Z., Jidong, L., Wei, J., Ying, Z., Yu, C. 2011. Design and control of an apple harvesting robot. Biosystems Engineering 110(2): 112-122. https://doi.org/10.1016/j.biosystemseng.2011.07.005

10.1016/j.biosystemseng.2011.07.005

Duckett, T., Pearson, S. Blackmore, S., Grieve, B. 2018. Agricultural robotics: The future of robotic agriculture. pp.12-23. EPSRC UK Robotics and Automous Systems Network. London. United Kingdom.

10.31256/WP2018.2

Song, S.H., Kim, S.M., Choi, W.T. 2025. Design and implementation of a post-harvest apple transfer system to minimize fruit damage in robotic harvesting operations. Robotics and Systems Anuual Conference. pp.936-937. Jeonju, Korea.

Zhang, Z., Kumar, A., Lu, Renfu. 2017. Design Features and Bruise Evaluation of an Apple Harvest and In-Field Presorting Machine. Transactions of the ASABE. 61(3):1135-1144. https://doi.org/10.13031/trans.12327

10.13031/trans.12327

Zhang, K., Lammers, K., Chu, P., Li, Z., Lu, R. 2021. System design and control of an apple harvesting robot. Mechatronics 79: 102644. https://doi.org/10.1016/j.mechatronics.2021.102644

10.1016/j.mechatronics.2021.102644

Zhang, K., Lammers, K., Chu, P., Li, Z., Lu, R. 2023. An automated apple harvesting robot - from system design to field evaluation. Journal of Field Robotics 4(7): 2384-2400. https://doi.org/10.1002/rob.22268

10.1002/rob.22268

Information

Publisher :Korean Society of Precision Agriculture
Publisher(Ko) :한국정밀농업학회
Journal Title :Precision Agriculture Science and Technology
Journal Title(Ko) :정밀농업과학기술
Volume : 8
No :2
Pages :123-129
Received Date : 2026-06-15
Revised Date : 2026-06-22
Accepted Date : 2026-06-22
DOI :https://doi.org/10.22765/pastj.20260010

Precision Agriculture Science and Technology ISSN:2672-0086(Print) 2713-5632(Online) 정밀농업과학기술

All Issue