Research on the Application of Rigid-flexible Compound Driven Fruit Picking Robot Design in Realizing Fruit Picking

摘要

Abstract This article mainly designs an efficient fruit picking robot that combines rigidity and flexibility. The design of the robot adopts a mechanical arm with 5 degrees of freedom for the mecanum wheel. The mechanical arm is equipped with a gripper made using artificial muscle technology. The ZED2 binocular vision system is used to obtain spatial coordinates to realize the positioning and positioning of the mechanical arm. Video image acquisition. In order to realize the automatic recognition and picking of strawberries, this paper creates a strawberry training set, and uses the yolov3 algorithm to train the data and obtains a strawberry recognition model, which has a recall rate of larger strawberries and immature strawberries and the precision rate reached 90%, and the detection precision and precision rate of small target strawberries reached more than 80%. It can Meet the requirements of picking in real life.