Study on the design and control system for wolfberry harvesting robot

摘要

In order to solve the problem of labor shortage, intensive labor and high cost, a new design of wolfberry harvesting robot was proposed in this paper, which would be extremely beneficial to increase margins and profits. This kind of robot comprised a self-propelled automated platform with one articulating arm, coupled with camera, sensors of all kinds and picking manipulator. Two rotor bodies inside the manipulator, which were made of two silicone wheels, every silicone with three spiral silicon tube, carried on relative motion to realize the simulation of hand-picking to pick fruit. Pinhole imaging technology for identification and PID control method for the enhancement of control system's dynamic and static performances were employed to ensure the normal order of the picking robot. The result to robot would achieve efficient work and replace manual labor, even outstrip efficiency of manual labor. Meanwhile the wolfberry fruit which was picked by robot would be more sanitary better manual.