Design and experiment of an automated harvesting and sorting robot based on visual recognition
An automatic fruit harvesting and sorting robot was designed for simulated spherical fruits and vegetables.The robot was mainly composed of wheeled mobile chassis,STM32 main control system,ultrasonic obstacle avoidance system,gyroscope attitude adjustment system,visual recognition system and harvest sorting equipment.The auto control section was written in C and the visual recognition section in Python and OpenMV.The test results showed that the robot could complete the designated route movement,avoid obstacles such as orchard ridges,correctly identify the receivable fruits,sort them correctly according to color sorting conditions,and independently complete fruit picking and collection.Under mixed lighting conditions,the success rate of fruit harvesting was 85.4%,and the success rate of fruit sorting was 88%,the total harvesting time should not exceed 1'30",passing through five ridges,simultaneously harvested and sorted 18 fruits,which verified the practicality and reliability of this system.
fruit and vegetable harvestrobotvisual recognitionharvest sorting agencyautomated control
NETL
NSTL
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