System Design of Tomatoes Harvesting Robot Based on Binocular Vision

Traditional manual picking is still the main picking method of fruits now. Because this method is too costly, there is an increasing interest in automatic harvest. $\mathbf{In}$ order to solve the problem of automatic harvest, a harvesting robot is designed for tomatoes as the research object. In this paper, a mathematical model for the mechanical arm of tomatoes harvesting robot is established, after identification and location of fruit by binocular cameras, the mechanical arm completes the task of harvesting fruits. The experimental results show that the tomatoes harvesting robot is active, accurate and efficient.