Study On Picking System For Strawberry Harvesting Robots

To automatize and intelligentize the process of strawberry-collecting, the picking system of strawberry-harvesting robots is studied on the previous basis. A Cartesian coordinate manipulator with three degree-of-freedoms (DOFs) and an open structure control system are set up, at the same time the vision system is designed, then the arithmetic of image process is especially researched and programmed.the controller has open structure so as to enhance the flexility, the extension, the reliability and the repetitious use of the system. With the core of PC and GALIL Controller, the open and modular control system is set up. The system program is written by VC++. The vector movement can save the working time. The result shows that the system operates wellLRCD(luminance and red color difference) method is adopted to segment image of strawberry. The result are shown in a gray image. Segmented image is gained by translating the gray image to a binary image after selecting an appropriate threshold. After extracting geometry feature of segmented strawberry image the tip position can be ascertained by the longest distance from the boundary to the barycenter, then the plucking position is gained in the reverse line from the tip to the barycenter(the distance from the plucking position to the barycenter is equal to that from the tip to the barycenter). The plucking position's actual coordinates can be got by transforming the coordinates. The result reveals that the eccentricity of the plucking position will be no more than 3 mm in the robot vision system.This open control system can arrive the position specified well and truly and the method to process images is feasible.