Cucumber picking robot system and picking method in greenhouse

Abstract

The invention discloses a cucumber picking robot system in a greenhouse environment. The robot system comprises a binocular stereo vision system, a mechanical arm device and a robot mobile platform; the binocular stereo vision system is used for acquiring cucumber images, processing the images in real time and acquiring the position information of the acquired targets; the mechanical arm device is used for capturing and separating the acquired targets according to the position information of the acquired targets; and the robot mobile platform is used for independently moving in the greenhouse environment; wherein, the binocular stereo vision system comprises two black and white cameras, a dual-channel vision real-time processor, a lighting device and an optical filtering device; the mechanical arm device comprises an actuator, a motion control card and a joint actuator; and the robot mobile platform comprises a running mechanism, a motor actuator, a tripod head camera, a processor and a motion controller. The invention also discloses a cucumber picking method in the greenhouse environment. The method of combining machine vision and agricultural machinery is adopted to construct the cucumber picking robot system which is suitable for the greenhouse environment, thus realizing automatic robot navigation and automatic cucumber reaping, and reducing the human labor intensity.

Description

technical field [0001] The invention relates to the technical field of intelligent robots, in particular to a cucumber picking robot system and picking method in a greenhouse environment. Background technique [0002] With the rapid development of computer and automatic control technology, agricultural machinery will enter a period of high automation and intelligence. Robots have gradually penetrated into agricultural production, especially in the production process of facility agriculture. The use of robots will become an important symbol of the development of agriculture towards automation and intelligence. In fruit and vegetable production operations, harvesting and picking account for about 40% of the total workload. The quality of picking operations directly affects the storage, processing and sales of fruits and vegetables, which ultimately affects market prices and economic benefits. Due to the complexity of picking operations, the degree of picking automation is st...

AI Technical Summary

Problems solved by technology

The quality of picking operations directly affects the storage, processing and sales of fruits and vegetables, which ultimately affects market prices and economic benefits

Due to the complexity of picking operations, the degree of picking automation is still very low. At present, domestic fruit and vegetable picking operations are basically done manually. Especially in greenhouses, the working environment is poor, and the labor intensity of harvesting operations is high. Therefore, the research is applicable to fruit picking robots in greenhouse environments. of great significance

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