Fully automatic ridge-type strawberry picking robot and its use method

Abstract

The application provides a full-automatic ridge type strawberry picking robot and a use method, a mobile chassis device is provided with an automatic tracking device for controlling a moving path of the robot; a top plate is supported and installed on the top of the mobile chassis device through a plurality of supporting columns; a plurality of multi-degree-of-freedom mechanical arms are symmetrically installed on the two sides of the top of the top plate; a mechanical hand for picking strawberries is installed at the tail end of the multi-degree-of-freedom mechanical arm; a lead screw mechanism is symmetrically arranged and installed on the two sides of the multi-degree-of-freedom mechanical arm and on the top of the top plate; a strawberry storage frame for storing strawberries is installed on the lead screw mechanism; and a fruit identification detection device for identifying strawberries is installed on the top plate. The picking robot can realize automatic picking of strawberries, effectively reduces the labor intensity of workers, and has high working efficiency.

Description

Technical Field

[0001] The invention belongs to the field of strawberry picking devices, and in particular relates to a fully automatic ridge-type strawberry picking robot and a use method thereof. Background Art

[0002] The traditional strawberry picking process is mainly carried out by manual picking. Since the diameter of strawberry leaves is relatively short, manual picking requires workers to bend over all the time, which results in high labor intensity and low work efficiency. Summary of the Invention

[0003] In order to solve the above technical problems, the present invention provides a fully automatic ridge-type strawberry picking robot, which can realize automated strawberry picking, effectively reduce the labor intensity of operators, and have high work efficiency.

[0004] In order to achieve the above-mentioned technical features, the purpose of the present invention is achieved as follows: a fully automatic ridge-type strawberry picking robot, which includes a mobile chassis device for driving the entire robot to walk; an automatic tracking device for controlling the robot's moving path is installed on the mobile chassis device; a top plate is installed on the top of the mobile chassis device through a plurality of supporting columns, and multi-degree-of-freedom robotic arms are symmetrically installed on both sides of the top of the top plate, and a robotic arm for picking strawberries is installed at the end of the multi-degree-of-freedom robotic arm; screw mechanisms are symmetrically installed on both sides of the multi-degree-of-freedom robotic arm and on the top of the top plate, and a strawberry storage frame for holding strawberries is installed on the screw mechanism, and a fruit recognition and detection device for identifying strawberries is installed on the top plate.

[0005] The mobile chassis device includes a chassis, and a travel motor is installed at the four corners of the bottom of the chassis through motor bracket support. The output shaft of the travel motor is installed with a Mecanum wheel. The travel motor is connected to the motor driver through a signal line, and the motor driver is connected to the controller through a signal line.

[0006] The automatic tracking device includes a PID tracking module fixed to the bottom of the chassis of the mobile chassis device, and an ultrasonic obstacle avoidance module is fixedly installed on the top of the chassis through a mounting bracket. The PID tracking module and the ultrasonic obstacle avoidance module are respectively connected to the controller through signal lines.

[0007] The multi-degree-of-freedom robotic arm includes a robotic arm rotating chassis, a turntable is installed on the main shaft of the robotic arm rotating chassis, a first arm is fixedly installed on the top of the turntable, a second arm is installed on the top of the first arm through a first servo, a third arm is installed on the top of the second arm through a second servo, a fourth arm is installed on the top of the third arm through a third servo, a fourth servo is installed on the end of the fourth arm through a servo mounting seat, and an output shaft of the fourth servo is connected to the robotic arm.

[0008] The manipulator includes a manipulator mounting seat, a fifth servo is fixedly installed on the top of the manipulator mounting seat, the output shaft of the fifth servo passes through the manipulator mounting seat, and a synchronous connecting rod mechanism is installed at the end thereof, the synchronous connecting rod mechanism is connected to symmetrically arranged mechanical clamping fingers, and the mechanical clamping fingers are installed on the first slide rail at the front end of the manipulator mounting seat through sliding fit; the inner end surface of the mechanical clamping fingers is installed with a cut branch containing picker for holding strawberries.

[0009] The synchronous connecting rod mechanism includes a rotating arm installed on the output shaft of the fifth servo, and the two ends of the rotating arm are respectively hingedly connected to the tail ends of the corresponding side mechanical clamping fingers through connecting rods, and drive the two mechanical clamping fingers to realize clamping or loosening actions.

[0010] The screw mechanism includes a stepper motor fixed on the top of the top plate, the output shaft of the stepper motor is connected to the screw through a coupling, the screw is installed between the screw supports through a bearing seat, the screw support is fixedly installed on the top of the top plate, a nut seat is installed on the screw through a screw transmission, the nut seat is fixedly connected to the slider, the slider forms a sliding fit with the second slide rail fixed on the top plate, and the strawberry storage frame is fixedly installed on the top of the slider.

[0011] The fruit identification and detection device includes a first camera fixed at the front end of the top plate, and also includes a camera pan-tilt device fixed at the center of the top plate. The camera pan-tilt device includes a telescopic rod base, which is fixedly installed at the center of the top plate. A telescopic rod is installed on the top of the telescopic rod base, and a second camera is installed on the top of the telescopic rod through the pan-tilt device.

[0012] The first and second cameras use OpenMV cameras to identify the color of the stems, leaves, flowers, and fruits of strawberry crops, allowing the multi-degree-of-freedom robotic arm and manipulator to move quickly to find the fruits. Then, by identifying the shape and brightness of the strawberries, they determine whether they are ripe and meet the picking requirements. In combination with a negative feedback control system, the input and output data are compared to accurately locate the position of the fruits and grasp the ripe fruits. Strawberry recognition is achieved by adjusting the pre-set strawberry shape and color thresholds.

[0013] The method of using the fully automatic ridge-type strawberry picking robot includes the following steps:

[0014] Step 1: Place the robot between the planting ridges in the strawberry plantation;

[0015] Step 2: Start the robot and control it to move inside the plantation by using the mobile chassis device and the automatic tracking device, and move along the strawberry planting ridges;

[0016] Step 3: During the walking process, the fruit recognition and detection device is activated to identify the stems, leaves, flowers, and fruit colors of the strawberry crops through the first camera and the second camera of the fruit recognition and detection device, and the strawberries are recognized according to the preset strawberry shape outline threshold and color threshold;

[0017] Step 4: After the strawberry is identified, the controller controls the multi-degree-of-freedom robotic arm and manipulator to move to the location of the strawberry and start the manipulator;

[0018] Step 5: The fifth servo of the manipulator drives the rotating arm, which in turn drives the connecting rod hinged to it. The connecting rod in turn drives the mechanical gripper at the other end. The mechanical gripper drives the branch picking device to hold the strawberries to be picked tightly and cut the strawberry roots with its own retractable rotating blade.

[0019] Step 6: The controller controls the multi-degree-of-freedom robotic arm and the robotic hand to place the picked strawberries into the strawberry storage box;

[0020] Step 7: During the strawberry placement process, the placement position of the strawberry storage frame is adjusted by controlling the lead screw mechanism. The stepper motor of the lead screw mechanism drives the lead screw, which in turn drives the nut seat, which in turn drives the slider through the nut seat, and the slider drives the strawberry storage frame on top to move, thereby adjusting its position.

[0021] Step 8: After picking one strawberry, proceed to picking the next one.

[0022] The present invention has the following beneficial effects:

[0023] 1. This picking robot can realize automatic picking of strawberries, effectively reducing the labor intensity of operators and improving work efficiency.

[0024] 2. The above-mentioned mobile chassis device can realize automatic walking of the entire robot.

[0025] 3. The automatic tracking device can be used to control the moving path of the entire mobile chassis device, thereby enabling it to adapt to complex road conditions. It adopts analog output mode and can programmatically modify the trigger threshold to cope with various complex environments.

[0026] 4. The multi-degree-of-freedom robotic arm can be used to control the movement of the robotic arm, so that it can move to the location of the strawberry.

[0027] 5. The above-mentioned manipulator can be used to pick strawberries. The synchronous linkage mechanism includes a rotating arm mounted on the output shaft of the fifth servo. The two ends of the rotating arm are respectively hingedly connected to the tail ends of the corresponding mechanical gripping fingers through connecting rods, and drive the two mechanical gripping fingers to achieve clamping or loosening actions.

[0028] 6. The screw mechanism can be used to adjust the placement of the strawberry storage frame, and then cooperate with the robot to place the strawberries.

[0029] 7. The fruit recognition and detection device can be used to identify strawberries to be picked. During operation, the camera pan-tilt device collects image information of the strawberries and transmits the image signal to the controller. The controller then controls the multi-degree-of-freedom robotic arm and manipulator to move to the location of the strawberries and control them to pick the strawberries. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The present invention will be further described below with reference to the accompanying drawings and examples.

[0031] Figure 1 This is a three-dimensional diagram from the first perspective of the present invention.

[0032] Figure 2 This is a three-dimensional diagram from the second perspective of the present invention.

[0033] Figure 3 This is a three-dimensional diagram from the third perspective of the present invention.

[0034] Figure 4 This is a three-dimensional diagram from the fourth perspective of the present invention.

[0035] In the figure: mobile chassis device 1, automatic tracking device 2, support column 3, top plate 4, screw mechanism 5, multi-degree-of-freedom robotic arm 6, robotic arm 7, camera pan / tilt device 8, first camera 9;

[0036] Chassis 101, travel motor 102, motor bracket 103, Mecanum wheel 104, motor driver 105; ultrasonic obstacle avoidance module 201, mounting bracket 202, controller 203, PID tracking module 204;

[0037] Stepper motor 501, coupling 502, screw support 503, screw 504, second slide rail 505, slider 506, nut seat 507;

[0038] The robotic arm includes a rotating chassis 601, a turntable 602, a first arm 603, a first servo 604, a second arm 605, a third arm 606, a second servo 607, a third servo 608, a fourth arm 609, and a servo mounting base 610.

[0039] Manipulator mounting base 701, fifth servo 702, mechanical gripper 703, cut branch picker 704, first slide rail 705, connecting rod 706, rotating arm 707;

[0040] Second camera 801 , pan / tilt head 802 , telescopic rod 803 , and telescopic rod base 804 . DETAILED DESCRIPTION

[0041] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0042] Example 1:

[0043] See also Figure 1-4 The fully automatic ridge-cultivating strawberry picking robot includes a mobile chassis 1 for driving the entire robot; an automatic tracking device 2 for controlling the robot's movement path is installed on the mobile chassis 1; a top plate 4 is supported on the top of the mobile chassis 1 by multiple support columns 3. Multi-degree-of-freedom robotic arms 6 are symmetrically mounted on both sides of the top of the top plate 4, and a robotic arm 7 for picking strawberries is installed at the end of each multi-degree-of-freedom robotic arm 6; screw mechanisms 5 are symmetrically mounted on both sides of the multi-degree-of-freedom robotic arm 6 and located on the top of the top plate 4. A strawberry storage box 10 for holding strawberries is mounted on each screw mechanism 5, and a fruit recognition and detection device for identifying strawberries is installed on the top plate 4. This picking robot can realize automated strawberry picking, effectively reducing the labor intensity of operators and improving work efficiency. During specific use, the automatic tracking device 2 can assist in controlling the mobile chassis device 1 to move normally inside the strawberry plantation, and can automatically avoid obstacles. Then, the fruit recognition and detection device can automatically identify strawberries. After the recognition is completed, the controller automatically controls the multi-degree-of-freedom robotic arm 6 and the robotic arm 7 to complete the picking of strawberries. After the picking is completed, the strawberries are stored and placed through the strawberry storage frame 10.

[0044] Furthermore, the mobile chassis device 1 includes a chassis 101, with travel motors 102 mounted at the four corners of the chassis 101 supported by motor brackets 103. The output shafts of the travel motors 102 are mounted with Mecanum wheels 104. The travel motors 102 are connected to motor drivers 105 via signal cables, and the motor drivers 105 are connected to a controller via signal cables. The mobile chassis device 1 enables the entire robot to move automatically. During operation, the travel motors 102 drive the Mecanum wheels 104, which in turn drive the chassis 101 to move.

[0045] Furthermore, the automatic tracking device 2 includes a PID tracking module 204 fixed to the bottom of the chassis 101 of the mobile chassis 1, and an ultrasonic obstacle avoidance module 201 fixed to the top of the chassis 101 via mounting brackets 202. Both the PID tracking module 204 and the ultrasonic obstacle avoidance module 201 are connected to a controller 203 via signal lines. The automatic tracking device 2 can be used to control the movement path of the entire mobile chassis 1, thereby enabling it to adapt to complex road conditions. Using analog output, the trigger threshold can be programmably modified to cope with various complex environments.

[0046] Furthermore, the multi-degree-of-freedom manipulator 6 includes a manipulator rotating chassis 601, a turntable 602 is mounted on the main shaft of the manipulator rotating chassis 601, a first arm 603 is fixedly mounted on the top of the turntable 602, a second arm 605 is mounted on the top of the first arm 603 via a first steering gear 604, a third arm 606 is mounted on the top of the second arm 605 via a second steering gear 607, a fourth arm 609 is mounted on the top of the third arm 606 via a third steering gear 608, a fourth arm 609 is mounted on the end of the fourth arm 609 via a steering gear mounting seat 610, and an output shaft of the fourth steering gear 611 is connected to the manipulator 7. The multi-degree-of-freedom manipulator 6 can be used to control the movement of the manipulator 7, so that it can move to the position where the strawberries are located. During the specific working process, the chassis 601 is rotated by the robotic arm to drive the entire turntable 602 to rotate, and then the first arm 603 is driven to rotate, the second arm 605 is driven to rotate by the first servo 604, the third arm 606 is driven by the second servo 607, and the fourth arm 609 is driven to rotate by the third servo 608, and then the servo mounting seat 610 is driven to rotate by the fourth arm 609, and the entire robotic arm 7 is driven to realize the rotation movement by the fourth servo 611.

[0047] Furthermore, the manipulator 7 includes a manipulator mounting seat 701, a fifth servo 702 is fixedly mounted on the top of the manipulator mounting seat 701, the output shaft of the fifth servo 702 passes through the manipulator mounting seat 701, and a synchronous link mechanism is installed at its end, the synchronous link mechanism is connected to the symmetrically arranged mechanical clamping fingers 703, the mechanical clamping fingers 703 are mounted on the first slide rail 705 at the front end of the manipulator mounting seat 701 by sliding fit; the inner end face of the mechanical clamping finger 703 is installed with a cut branch containing picker 704 for holding the strawberry. The above-mentioned manipulator 7 can be used to realize the strawberry picking action. The synchronous link mechanism includes a rotating arm 707 mounted on the output shaft of the fifth servo 702, and the two ends of the rotating arm 707 are respectively hingedly connected to the tail end of the corresponding side mechanical clamping finger 703 through a connecting rod 706, and drive the two mechanical clamping fingers 703 to realize the clamping or releasing action. During operation, the fifth servo 702 drives the rotating arm 707, which in turn drives the connecting rod 706 hinged to it, and the connecting rod 706 synchronously drives the mechanical clamping finger 703 at the other end. The mechanical clamping finger 703 drives the cut branch picking device 704 to hold the strawberries to be picked tightly, and cuts the roots of the strawberries with its own retractable rotating blade, thereby finally picking the strawberries.

[0048] Furthermore, the screw mechanism 5 includes a stepper motor 501 fixed to the top of the top plate 4. The output shaft of the stepper motor 501 is connected to a screw 504 via a coupling 502. The screw 504 is installed between a screw support 503 via a bearing seat. The screw support 503 is fixedly mounted on the top of the top plate 4. A nut seat 507 is installed on the screw 504 via a screw transmission. The nut seat 507 is fixedly connected to a slider 506. The slider 506 forms a sliding fit with a second slide rail 505 fixed to the top plate 4. The strawberry storage frame 10 is fixedly mounted on the top of the slider 506. The screw mechanism 5 can be used to adjust the placement position of the strawberry storage frame 10, thereby cooperating with the manipulator 7 to achieve the placement of the strawberries. During operation, the stepping motor 501 drives the lead screw 504 , which in turn drives the nut seat 507 , thereby driving the slider 506 connected thereto to slide along the second slide rail 505 , thereby driving the strawberry storage frame 10 to slide.

[0049] Further, described fruit identification detection device comprises the first camera 9 that is fixed on the front end of the top of top plate 4, also comprises the camera platform device 8 that is fixed on the center of top plate 4, described camera platform device 8 comprises telescopic rod base 804, described telescopic rod base 804 is fixedly mounted on the center of top plate 4, the top of described telescopic rod base 804 is equipped with telescopic rod 803, and the top of described telescopic rod 803 is equipped with second camera 801 by platform 802.Can be used for the identification of strawberry to be picked by above-mentioned fruit identification detection device.In the working process, the image information of strawberry is collected by camera platform device 8, and image signal is transmitted to controller, then the multi-degree-of-freedom mechanical arm 6 and manipulator 7 are moved to the position of strawberry by controller control, and control it to pick strawberry.

[0050] Furthermore, the first camera 9 and the second camera 801 use OpenMV cameras to identify the colors of the stems, leaves, flowers, and fruits of strawberry crops, allowing the multi-degree-of-freedom robotic arm 6 and the robotic hand 7 to move quickly to find the fruits, and then determine whether the strawberries are ripe and meet the picking requirements by identifying the shape and outline of the strawberries and the brightness of the red color; and in combination with a negative feedback control system, accurately locate the fruit position and grasp the ripe fruit by comparing the input and output data; and achieve strawberry recognition by adjusting the pre-set strawberry shape and outline thresholds and color thresholds.

[0051] Example 2:

[0052] The method of using the fully automatic ridge-type strawberry picking robot includes the following steps:

[0053] Step 1: Place the robot between the planting ridges in the strawberry plantation;

[0054] Step 2: Start the robot and control it to move inside the plantation and along the strawberry planting ridges through the mobile chassis device 1 and the automatic tracking device 2;

[0055] Step 3: During the walking process, the fruit recognition and detection device is activated to identify the stems, leaves, flowers, and fruit colors of the strawberry crops through the first camera 9 and the second camera 801 of the fruit recognition and detection device, and strawberry recognition is achieved based on the preset strawberry shape outline threshold and color threshold;

[0056] Step 4: After the strawberry identification is completed, the controller 203 controls the multi-degree-of-freedom robot arm 6 and the robot arm 7 to move to the location of the strawberry and start the robot arm 7;

[0057] Step 5: The fifth servo 702 of the manipulator 7 drives the rotating arm 707, which in turn drives the connecting rod 706 hinged to it. The connecting rod 706 then drives the mechanical gripper 703 at the other end. The mechanical gripper 703 drives the cut branch picker 704 to hold the strawberries to be picked tightly and cut the strawberry stems with its own retractable rotating blades.

[0058] Step 6: The controller 203 controls the multi-degree-of-freedom robot arm 6 and the robot hand 7 to place the picked strawberries into the strawberry storage frame 10;

[0059] Step 7: During the strawberry placement process, the placement position of the strawberry storage frame 10 is adjusted by controlling the lead screw mechanism 5. The stepping motor 501 of the lead screw mechanism 5 drives the lead screw 504, which in turn drives the nut seat 507. The nut seat 507 drives the slider 506, which drives the strawberry storage frame 10 on top thereof to move, thereby adjusting its position.

[0060] Step 8: After picking one strawberry, proceed to picking the next one.

Claims

1. A method for using a fully automatic ridge-type strawberry picking robot, the fully automatic ridge-type strawberry picking robot comprising a mobile chassis device (1) for driving the entire robot to move; an automatic tracking device (2) for controlling the robot's moving path is installed on the mobile chassis device (1); a top plate (4) is supported and installed on the top of the mobile chassis device (1) via a plurality of support columns (3); multi-degree-of-freedom robotic arms (6) are symmetrically installed on both sides of the top of the top plate (4); a robotic arm (7) for picking strawberries is installed at the end of the multi-degree-of-freedom robotic arm (6); a lead screw mechanism (5) is symmetrically installed on both sides of the multi-degree-of-freedom robotic arm (6) and located on the top of the top plate (4); a strawberry storage frame (10) for holding strawberries is installed on the lead screw mechanism (5); and a fruit recognition detection device for recognizing strawberries is installed on the top plate (4); The mobile chassis device (1) comprises a chassis (101), wherein a travel motor (102) is mounted on the four bottom corners of the chassis (101) via motor brackets (103), a Mecanum wheel (104) is mounted on the output shaft of the travel motor (102), the travel motor (102) is connected to a motor driver (105) via a signal line, and the motor driver (105) is connected to a controller via a signal line; The automatic tracking device (2) comprises a PID tracking module (204) fixed to the bottom of a chassis (101) of a mobile chassis device (1), and an ultrasonic obstacle avoidance module (201) fixedly mounted on the top of the chassis (101) via a mounting bracket (202), wherein the PID tracking module (204) and the ultrasonic obstacle avoidance module (201) are respectively connected to a controller (203) via a signal line; The multi-degree-of-freedom manipulator (6) comprises a manipulator rotating chassis (601), a turntable (602) is mounted on the main shaft of the manipulator rotating chassis (601), a first arm (603) is fixedly mounted on the top of the turntable (602), a second arm (605) is mounted on the top of the first arm (603) via a first servo (604), a third arm (606) is mounted on the top of the second arm (605) via a second servo (607), a fourth arm (609) is mounted on the top of the third arm (606) via a third servo (608), a fourth servo (611) is mounted on the end of the fourth arm (609) via a servo mounting seat (610), and an output shaft of the fourth servo (611) is connected to the manipulator (7); The manipulator (7) includes a manipulator mounting seat (701), a fifth steering gear (702) is fixedly mounted on the top of the manipulator mounting seat (701), an output shaft of the fifth steering gear (702) passes through the manipulator mounting seat (701), and a synchronous connecting rod mechanism is mounted on the end thereof, the synchronous connecting rod mechanism is connected to symmetrically arranged mechanical clamping fingers (703), and the mechanical clamping fingers (703) are mounted on the first slide rail (705) at the front end of the manipulator mounting seat (701) through sliding fit; the inner end surface of the mechanical clamping fingers (703) is mounted with a cut branch containing picker (704) for holding the strawberry tightly; The synchronous connecting rod mechanism includes a rotating arm (707) installed on the output shaft of the fifth steering gear (702), and the two ends of the rotating arm (707) are respectively hingedly connected to the tail ends of the corresponding side mechanical clamping fingers (703) through connecting rods (706), and drives the two mechanical clamping fingers (703) to achieve clamping or loosening actions; The fruit identification and detection device comprises a first camera (9) fixed at the front end of the top of the top plate (4), and also comprises a camera pan-tilt device (8) fixed at the center of the top plate (4), wherein the camera pan-tilt device (8) comprises a telescopic rod base (804), wherein the telescopic rod base (804) is fixedly mounted at the center of the top plate (4), a telescopic rod (803) is mounted on the top of the telescopic rod base (804), and a second camera (801) is mounted on the top of the telescopic rod (803) via a pan-tilt device (802); The method of use comprises the following steps: Step 1: Place the robot between the planting ridges in the strawberry plantation; Step 2: Start the robot and control it to move inside the plantation and along the strawberry planting ridges by using the mobile chassis device (1) in conjunction with the automatic tracking device (2); Step 3: During the walking process, the above-mentioned fruit recognition and detection device is activated, and the stems, leaves, flowers, and fruit colors of the strawberry crop are identified through the first camera (9) and the second camera (801) of the fruit recognition and detection device, and strawberry recognition is achieved based on a preset strawberry shape contour threshold and color threshold; Step 4: After the strawberry identification is completed, the multi-degree-of-freedom robotic arm (6) and the robotic arm (7) are controlled by the controller (203) to move to the location of the strawberry and start the robotic arm (7); Step 5: The fifth servo (702) of the manipulator (7) drives the rotating arm (707), which in turn drives the connecting rod (706) connected thereto by the rotating arm (707), which in turn drives the mechanical gripping finger (703) at the other end by the connecting rod (706), which in turn drives the cut branch picking device (704) to hold the strawberries to be picked tightly by the mechanical gripping finger (703), and cuts the strawberry roots by the retractable rotating blade provided therewith; Step 6: The controller (203) controls the multi-degree-of-freedom robotic arm (6) and the robotic hand (7) to place the picked strawberries into the strawberry storage frame (10); Step 7: During the strawberry placement process, the placement position of the strawberry storage frame (10) is adjusted by controlling the lead screw mechanism (5), the stepping motor (501) of the lead screw mechanism (5) drives the lead screw (504), and the lead screw (504) drives the nut seat (507), and the nut seat (507) drives the slider (506), and the slider (506) drives the strawberry storage frame (10) on the top thereof to move, thereby adjusting its position; Step 8: After picking one strawberry, proceed to picking the next one; The first camera (9) and the second camera (801) are OpenMV cameras, which are used to identify the color of the stems, leaves, flowers, and fruits of strawberry crops, so that the multi-degree-of-freedom robotic arm (6) and the robotic hand (7) can quickly move to find the fruits, and then determine whether the strawberries are ripe and meet the picking requirements by identifying the shape and outline of the strawberries and the brightness of the red color; and in combination with a negative feedback control system, the input and output data are compared to accurately locate the position of the fruits and to achieve the grasping of ripe fruits; and strawberry recognition is achieved by adjusting the pre-set strawberry shape and outline threshold and color threshold.

2. The method for using the fully automatic ridge-type strawberry picking robot according to claim 1, characterized in that: The screw mechanism (5) includes a stepper motor (501) fixed on the top of the top plate (4), the output shaft of the stepper motor (501) is connected to the screw (504) through a coupling (502), the screw (504) is installed between the screw support (503) through a bearing seat, the screw support (503) is fixedly installed on the top of the top plate (4), a nut seat (507) is installed on the screw (504) through a screw transmission, the nut seat (507) is fixedly connected to the slider (506), the slider (506) and the second slide rail (505) fixed on the top plate (4) form a sliding fit, and the strawberry storage frame (10) is fixedly installed on the top of the slider (506).

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