Research on the Control System of Strawberry Picking Robot Based on Halcon Vision and Multi-Axis Collaborative Control of Mitsubishi PLC

This paper designs a three-axis robotic arm system based on Halcon vision and Mitsubishi PLC to address the problems of low efficiency and high damage rate in agricultural picking. Millimeter-level fruit positioning was achieved through HSV color space conversion and morphological processing, and the coordinates were transmitted to FX3U PLC via the CC-LINK protocol; The position-speed-current three-loop closed-loop architecture was constructed using the FX3U-2PG module, and the linear interpolation algorithm was used to drive the coordinated movement of the X, Z, and C axes to solve the path planning problem; Thin-film sensors are used at the end to achieve PID control of clamping force. The experiment showed that the success rate of 300 picks was 96%, and the accuracy of 100 repeat positioning was 1.8mm. The system provides a high-precision solution for agricultural automation.