Study on strawberry harvesting robot:Ⅲ.Application of scan line filling algorithm in vacancy filling of strawberry image;

Present situation and development of mobile harvesting robot;

Along with the application of new pattern of agricultural production and technique, harvesting robot has great potential as the important type of agricultural robot.

The object s recognition and orientation are not solved for the fruit and vegetable picking robot.

The development prospect and research status of fruit and vegetable picking robots are overviewed and several typical picking robots are introduced with some key technologies related to the robots analyzed and studied.

Based on the idea of man-machine cooperation ,The structure and correlation parameter of the picking manipulator are designed in this paper.

This article picks the four degrees of freedom picking manipulator as the research object,has produced the control system overall plan,drew the hardware schematic diagram,and investigated and simulated the manipulator control system,using Keil as the software debugging interface and Proteus as the hardware simulation and the debugging interface.

Based on Monte-Carlo method working space of the 4-DOF picking manipulator is analyzed in this paper .

Because the precision of the main motion system of mulberry leaves plucking machine is high, its source of error is analyzed and the key factors of influence error are found for assuring assemble precision of the main motion system in the case of reducing machining difficulty of interrelated parts.