Design of Vision Control System of Tomato Picking Robot

摘要

Tomato picking is a relatively complex production link in the overall process of tomato production. It is the labor-intensive work and it is urgent to use automated picking of tomato fruits. Therefore, this article mainly uses the depth camera and the six-degree-of-freedom manipulator to study the construction of the visual servo system, the modeling and kinematics simulation of the manipulator in the automatic tomato picking robot. We have established a robot visual servo system that can be directly grasped based on the robot operating system(ROS). The system acquires fruit targets through visual sensors, uses the depth and color information of the targets, and uses coordinated control strategies for hands and eyes at different distances. The tomato picking space is divided into multiple picking sub-regions, and the picking path planning is combined with the obstacle avoidance algorithm to improve the overall efficiency of tomato picking.