Design and test of tomatoes harvesting robot

In order to improve robotic harvesting for fresh tomato and reduce the amount of human labor, this paper designed a tomato intelligent picking robot. The picking robot included: the vision positioning unit, the picking gripper, the control system and carrying platform. Based on the working principle of each component, the working process of picking robot was revised. Based on HIS color model for image segmentation, the recognition accuracy was improved. The sacs filled with constant pressure air were adopted as the grasping component of the picking end-effector, to prevent the fruits from being damaged. The performance test of picking robot indicated that vision positioning module and the gripper module ran well. The execution time of a single harvest cycle was about 24s, and the success rate for harvesting tomatoes was 83.9%.