Strawberry picking robot based on machine vision

Abstract

The invention provides a strawberry picking robot based on machine vision. The strawberry picking robot comprises a chassis, a walking mechanism, a picking mechanism, a collecting mechanism, a mastercontrol module, a vision module, an ultrasonic module, a motor and drive module and a sensor module, wherein the sensor module is arranged on the edge below the chassis and used for detecting ground conditions at any time and controlling a device to walk; the motor and drive module is arranged below the chassis, fixedly connected with the walking mechanism and used for driving the walking mechanism; the vision module is vertically fixed above the chassis and used for collecting images of strawberries; the ultrasonic module is located in the same axis with the vision module and used for detecting the distance between a mechanical arm and the strawberries; the master control module receives data information of the sensor module, the vision module and the ultrasonic module and makes decisionsfor controlling actions of the walking mechanism and the picking mechanism. Intelligent picking of the strawberries in a greenhouse is realized, and functions of automatic walking, strawberry identification and positioning and strawberry grabbing and collection are achieved.

Description

technical field [0001] The invention relates to a strawberry picking device and belongs to the technical field of agricultural harvesting machinery. Background technique [0002] As we all know, the picking process plays an important role in strawberry planting, taking up 1 / 4 of the time in the strawberry planting and production process. Traditional manual strawberry picking consumes a lot of time and human resources, seriously affecting the development of strawberry cultivation. According to the status quo of strawberry production and demand, it is of great significance for strawberry planting and production to study an intelligent strawberry picking robot to realize automatic strawberry picking. [0003] With the promotion of new agriculture and the continuous progress of science and technology, agricultural robots have been gradually applied to various fields of agricultural production, and promote the development of mechanical equipment in the direction of intelligence....

AI Technical Summary

Problems solved by technology

[0010] Aiming at the problem that the existing strawberry picking robots cannot meet the market demand, the present invention proposes a strawberry intelligent picking and collecting device based on machine vision, which realizes the functions of autonomous walking in the greenhouse, strawberry color recognition and positioning, strawberry grasping and collection

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