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Design and research of Tomato Picking Robot

Xu can   Bear sign   Jiang Xianping   Deng min   Huang Guicai  
[Abstract]: Tomato is one of the largest varieties planted in facility agriculture. With the increasing shortage of labor force in agricultural production, it is urgent to realize the automatic picking of Tomato in facility agriculture. Based on the analysis of the physical and mechanical characteristics and planting environment, a tomato picking robot was designed, which was composed of walking mechanism, recognition system, mechanical arm, end effector and control system. Among them, the walking mechanism can run on the ground and track, and can realize in-situ steering, which can adapt to work in the greenhouse planting environment; Combining Yolo V3 and traditional image processing methods, the picking points of tomato stem were identified, and the spatial coordinates of picking points were obtained based on depth camera; A special tomato end effector was designed to realize the cutting and clamping of fruit stalk; The control system of Tomato Picking Robot is built based on ROS system. In the field test, the success rate of picking tomato is 93%, and the picking effect is good.
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韩日国产av无码免费在线336

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