Cherry tomato picking method and cherry tomato picking manipulator

Abstract

The invention belongs to the field of picking manipulators, and particularly discloses a cherry tomato picking method and a cherry tomato picking manipulator, and the picking method comprises the following steps: (1) obtaining an image of a fruit string to be picked; (2) controlling the recognition system to analyze and recognize the images of the fruit bunches to be picked, and segmenting main vines; (3) extracting the position of the cherry tomato fruit at the uppermost part of the trunk vine to obtain the initial cutting position of the picking manipulator; (4) moving an end effector of the picking manipulator to the initial cutting position, closing a cutter on the end effector, and clamping the trunk vine; and (5) an end effector of the picking manipulator moves from top to bottom in the extending direction of the trunk vine to cut stems of the cherry tomatoes on the two sides of the trunk vine, and picking of the cherry tomatoes is completed. Picking is carried out based on the growth characteristics of cherry tomatoes, and the picking efficiency can be improved.

Description

technical field [0001] The invention relates to the field of a fruit picking manipulator, in particular to a cherry tomato picking method and a cherry tomato picking manipulator. Background technique [0002] Most of the fruit picking is manually participated, and the labor force is large, which is one of the factors that lead to the increase of fruit cost. In order to improve the efficiency of fruit picking and save labor, picking robots are gradually applied to various fruit picking. In the prior art, when a picking robot picks fruit, it can only pick one fruit at a time, which is extremely inefficient for string fruit picking and easily damages adjacent fruits. For example, the fruits of cherry tomatoes generally grow together in strings, and based on the same vine, the fruits grow on both sides of the vine; at this time, if traditional picking robots are used to pick cherry tomatoes, each string There are multiple fruits in cherry tomatoes, and the efficiency of pickin...

AI Technical Summary

Problems solved by technology

In the prior art, when the picking robot is picking fruit, it can only pick one fruit at a time. For the picking of string fruits, the efficiency is extremely low, and it is easy to damage adjacent fruits.

For example, the fruits of cherry tomatoes generally grow together in strings, and based on the same vine, the fruits grow on both sides of the vine; at this time, if traditional picking robots are used to pick cherry tomatoes, each string There are multiple fruits in cherry tomatoes, and the efficiency of picking them one by one is extremely low, and the distance between multiple fruits in the same bunch of cherry tomatoes is small, and the method of picking one by one is easy to damage adjacent fruits, which shows that it cannot be applied to picking cherry tomatoes middle

Some fruit string picking robots appear in the prior art, specifically for picking whole strings of fruits in units of strings, such as longan, lychee, tomato string, etc., to grasp and protect the fruit strings during picking, and to pick the fruit strings. The main stalks or main vines are cut to complete the picking of string fruits; however, since the cherry tomatoes are generally kept and sold individually and independently after picking, it is still necessary to separate the single cherry tomatoes after the whole bunch is picked. Picking and separating from vines, the above-mentioned fruit string picking robot cannot meet the picking of cherry tomatoes

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