To improve the efficiency of harvesting cherry tomato and reduce its breakage rate, we design a harvesting robot base on image recognition and modular control. After image acquisition with IOT technology, the binary processing and expansion and corrosion processing of original image can effectively increase the fruit recognition rate. In addition, the use of fuzzy control technology processes the response error of manipulator. We test the performance of cherry tomato harvesting robot through harvesting experiment. The experimental results show that the harvesting efficiency significantly improves and the degree of crushing cherry tomato greatly reduces after using the cherry tomato harvesting robot.
The Design and Realization of Cherry Tomato Harvesting Robot Based on IOT
