Key Components Design of the Fresh Grape Picking Robot in Equipment Greenhouse

This paper investigates the grape picking robot aiming at solving the problem of low automation and high loss by manipulations in grape picking in vineyards. Combining agricultural machinery and agronomic together, a facility cultivation grape picking robot is developed to achieve fast, efficient, simple and high-quality grape picking with low loss. This paper at first designs and builds a facility cultivation grape picking robot prototype including mobile lifting platform, lifting and speed adjustable conveyor belt with flexible board, manipulator, end cutting mechanism, vision and sensor system, fruit collection device. Then the recognition of grape fruit clusters and the cutting point of stalks are studied. Monocular camera and ranging sensor are applied to recognize fruit clusters and locate the cutting point of fruit stalks. And this paper compares the different method according to the accuracy, speed, the realization effect of various indicators. The end-effector which in coordination with the sensor cuts the fruit stalks is designed. In the test results, the accuracy of cutting site range reaches 80.32%, and the success rate of cutting fruit stalk is 74.66%. Each cluster takes an average of 7.3s.