A Review of Key Technologies and Recent Advances in Intelligent Fruit-Picking Robots

Abstract

Intelligent fruit-picking robots have emerged as a promising solution to labor shortages and the increasing costs of manual harvesting. This review provides a systematic and critical overview of recent advances in three core domains: (i) vision-based fruit and peduncle detection, (ii) motion planning and obstacle-aware navigation, and (iii) robotic manipulation technologies for diverse fruit types. We summarize the evolution of deep learning-based perception models, highlighting improvements in occlusion robustness, 3D localization accuracy, and real-time performance. Various planning frameworks—from classical search algorithms to optimization-driven and swarm-intelligent methods—are compared in terms of efficiency and adaptability in unstructured orchard environments. Developments in multi-DOF manipulators, soft and adaptive grippers, and end-effector control strategies are also examined. Despite these advances, critical challenges remain, including heavy dependence on large annotated datasets; sensitivity to illumination and foliage occlusion; limited generalization across fruit varieties; and the difficulty of integrating perception, planning, and manipulation into reliable field-ready systems. Finally, this review outlines emerging research trends such as lightweight multimodal networks, deformable-object manipulation, embodied intelligence, and system-level optimization, offering a forward-looking perspective for autonomous harvesting technologies.