Device for robotic picking of strawberries

摘要

The article presents a device for collecting strawberry berries, presents a 3D model of an automated manipulator with a computer vision system. The overall dimensions of the manipulator (WxDxH), mm - 200x700x600, the number of degrees of freedom - 6, load capacity - 1 kg, the maximum effort to detach fruits and berries - 10-80 N. An algorithm for the operation of a computer vision system for determining the boundaries of berries and their ripeness based on size factor. The results of field experiments, measuring the area of berries of wild strawberries at different times of the day are given. It was established that the lighting conditions have a significant effect on the detection of the boundaries and area of garden strawberries, and their ripeness.