Strawberry picking end effector and working process thereof

Abstract

The invention relates to the field of a picking end effector, in particular to a large-tolerance strawberry picking end effector capable of picking up multiple strawberries once based on a hand-eye system, and a working method thereof. The invention aims to provide a strawberry picking end effector which can pick up clustered fruits, has low demanding degree on picking positioning of a mechanical arm, and a working method thereof. According to the picking end effector and the working method, the strawberry fruit region (single grain or adjacent graininess mature strawberry fruits) is taken as the picking objects; the separation of adhering mature fruits is not necessary; the algorithm complexity and calculation time consumption of identifying and positioning the target fruits can be reduced; the image degree coordinate of the target fruits can be exactly converted into a world coordinate according to an internal reference and an external reference of a camera, and the positioning precision and speed can be improved; many strawberries can be picked up once; under the condition that the mature fruits are close or adhered, the picking efficiency can be greatly improved; the picking end effector has large-tolerance; under the condition that the positioning precision on the mechanical arm is not demanding, the picking success rate can be improved.

Description

technical field [0001] The invention relates to the field of picking end effectors, in particular to a large-tolerance strawberry picking end effector based on a hand-eye system and capable of picking multiple strawberries at one time and its working process. Background technique [0002] Selective fruit picking is the most time-consuming and labor-intensive part of agriculture, and humans have been trying to use robots to do it for 30 years. As a common fruit, strawberry has a large planting area. Every year when the harvest season arrives, the pickers need to bend over to pick ripe strawberries at regular intervals until the end of the strawberry growing season. The work process is heavy and monotonous. Therefore, some agricultural developed countries have developed strawberry picking robot devices with machine vision. In the research of these devices, the strawberry picking method is mainly to detect the ripe fruit by machine vision, segment and locate a single ripe fru...

AI Technical Summary

Problems solved by technology

In actual production, strawberry fruits are mostly distributed in clusters, often several ripe fruits are gathered together, and there are often cases where branches and leaves cover the fruits. Under this condition, the single picking method not only increases the image recognition, segmentation It also increases the picking frequency and picking difficulty of the manipulator, which reduces the working efficiency.

In addition, single picking has high requirements on the positioning accuracy of the robotic arm, which reduces the tolerance capability of the machine and also affects the efficiency and quality of picking operations

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