Control device of pepper picker based on truss manipulator

A picker control device based on a truss manipulator integrates the information of various sensors such as force sense, temperature sense, vision and distance, and timely feedback information to realize the flexible picking of pepper fruit ears by the executive parts. The hardware device consists of a computer vision control system, an industrial control system, a robotic arm and an end actuator. Coordinate various parts of the image, identification module, LiDAR, induction switch, temperature and humidity module, wireless communication module, truss structure and end grabbers, etc., to realize the identification and positioning of the detected object, the acquisition and reporting of the working environment and operating state of the equipment, the accurate control of the structure, and the multi-axis linkage control functions. Automated pepper picking to help agricultural production.