Radar positioning-based tomato picking robot system and control method thereof

Abstract

The invention discloses a radar positioning-based tomato picking robot system and a control method thereof. The radar positioning-based tomato picking robot system comprises a main control system, a chassis driving system, a mechanical arm, a visual collection module, a radar positioning module, a weighing module, a remote control module and an alarm module, wherein the main control system receives a color image collected by the visual collection module; firstly, the color image is separated, and a specific position of a fruit is calculated; then the color of a tomato is extracted to calculatea pixel point of the tomato; and contour extraction is performed to analyze the pixel point of the tomato, so as to calculate whether the tomato is matured. According to the radar positioning-based tomato picking robot system and the control method thereof which are provided by the invention, the problems of difficulty in manual picking of fruit tomatoes, high cost, high labor intensity and the like are solved, and shortcomings that a general fruit picking robot is large in volume, high in development cost and high in power consumption and some tomatoes are covered by stems and leaves and cannot be picked are overcome; and furthermore, the robot can realize autonomous navigation, and is high in data transmission and suitable for a more complicated working environment.

Description

technical field [0001] The invention relates to the application of robots in agriculture, in particular to a tomato picking robot system based on radar positioning and a control method thereof. Background technique [0002] The research on fruit and vegetable picking robots began in the United States in the 1960s. The harvesting methods used are mainly mechanical shaking and pneumatic shaking. The disadvantages are that the fruits are fragile and the efficiency is not high. There are also significant limitations in picking soft, fresh fruit. With the development of electronic technology and science technology, especially the maturity of industrial robot technology, computer image processing technology and artificial intelligence technology, the research and development technology of picking robots has developed rapidly. [0003] During the entire tomato production process, harvesting and picking account for about 40% of the entire workload. The quality of picking directly a...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a tomato picking robot system based on radar positioning and its control method, which not only solves the problems of artificially picking fruit tomatoes, such as difficulty, high cost, and heavy labor workload, but also overcomes the large volume of general fruit picking robots. Disadvantages such as high development cost and high power consumption, and some tomatoes are covered by stems and leaves and cannot be picked.

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