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This research presents a novel, robotic pollination system designed fortargeted pollination of apple flowers in modern fruiting wall orchards.Developed in response to the challenges of global colony collapse disorder,climate change, and the need for sustainable alternatives to traditionalpollinators, the system utilizes a commercial manipulator, a vision system, anda spray nozzle for pollen application. Initial tests in April 2022 pollinated56% of the target flower clusters with at least one fruit with a cycle time of6.5 s. Significant improvements were made in 2023, with the system accuratelydetecting 91% of available flowers and pollinating 84% of target flowers with areduced cycle time of 4.8 s. This system showed potential for precisionartificial pollination that can also minimize the need for labor-intensivefield operations such as flower and fruitlet thinning.

Robotic Pollination of Apples in Commercial Orchards