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Digital twin-driven system for efficient tomato harvesting in greenhouses

文献类型： 外文期刊

作者： Lang, Yining 1 ; Zhang, Yanqi 1 ; Sun, Tan 1 ; Chai, Xiujuan 1 ; Zhang, Ning 1 ;

作者机构： 1.Chinese Acad Agr Sci, Agr Informat Inst, Beijing 100081, Peoples R China

2.Minist Agr & Rural Affairs, Key Lab Agr Big Data, Beijing 100081, Peoples R China

关键词： Tomato; Harvest; Digital-twin; Greenhouse; Reinforcement-learning; Decision

期刊名称：COMPUTERS AND ELECTRONICS IN AGRICULTURE （ 影响因子：8.9； 五年影响因子：9.3 ）

ISSN： 0168-1699

年卷期： 2025 年 236 卷

页码：

收录情况： SCI

摘要： Efficient and low-damage harvesting remains a major challenge in modern greenhouse tomato production, particularly in dense planting environments. To address limitations such as restricted camera views, occluded fruits, and complex fruiting patterns, our study presents a digital twin-driven system for intelligent tomato harvesting. Using a slidable depth camera mounted on the robot, we reconstruct a high-fidelity 3D digital twin of the greenhouse that accurately captures the spatial distribution and growth states of tomatoes. Based on this virtual environment, a learning-based framework is developed to optimize harvesting strategies, including robot positioning, arm trajectory planning, fruit selection priority, and adaptive operation modes. The proposed system integrates both a complete algorithmic workflow and a practical hardware platform. Experimental results show that our method significantly improves harvesting performance, reducing the average harvesting time by 34.95% (to 7.4 s per fruit), arm movement distance by 20.93%, and collision occurrences by 45.16%. While tailored for tomato harvesting, this framework demonstrates strong potential for generalization to other greenhouse crops in precision agriculture.

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