CROPS EU-project

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WP6: Harvesting systems in orchards: grapes and apples

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This workpackage aims to develop and demonstrate a robotic system, focused on harvesting, for apples and grapes. In parallel, generic concepts will be developed for functions like planting, monitoring yield and quality and local crop protection.

Apple tree Grape vines
mur du fruit Grapes


  1. Engineering system design methodology for robotic harvesting system for apples and grapes
    • Definition of the design objectives and system requirements
    • Definition of functions and working principles
  2. Adapt fruit plantation for introduction of automated harvesting
  3. Testing of modules
    • Sensors
    • Prototypes of grippers
  4. Define detaching movement for apples picking


Grapes: Cut – Pull – Drop

  • Integrates with existing commercial harvester
  • Simplifies the harvesting, transportation, and storing process
  • Bunches harvesting for higher quality

Apples: Window harvesting

  • Simplifies the harvesting, transportation process
  • Speed up with multiple arms
  • Closed environment for robot


Building modules: Platform (CNH)

Manipulator control unit

Manipulator and control unit


Closed tunnel

Closed tunnel + artificial light

power supply

Power supply + air compressor


You can watch here the final apple harvesting demo.

The same video on YouTube:


Main partners involved in WP6

  • Katholieke Universiteit Leuven (Belgium)
  • Instituto de Investigaciones Agropecuarias (Chile)
  • CNH Belgium NV
Last Updated on Tuesday, 18 August 2015 15:08