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Highlights

The spatial coordinate position of peppers is obtained by YOLOv5 algorithm fused with localization technique.

Abstract. To avoid mutation and interference with intelligent gathering, an autonomous gathering method is proposed in this paper. An improved YOLOv5 target detection algorithm is used to recognize peppers. The kinematics solution of the robotic arm is realized by using the disassembly method and the Euler-angle method. Simulating and modeling robotic arms is conducted by the Robotic Toolbox in Matlab. The robotic arm's spatial motion planning is controlled by the pentadic polynomial interpolation method. The feasibility of the inverse solution and planning is verified in Matlab. Different conditions‘ gathering experiments are conducted on the gathering platform. Experiments show that this method is smooth and interference-free, with a high gathering success rate, realizing the accurate gathering of single, small fruits in complex environments.