Automatic apple picking device based on machine vision and control method thereof

The invention provides an automatic apple picking device based on machine vision and a control method thereof, and belongs to the field of automatic apple picking. The device comprises a manipulator, a mechanical arm, a mechanical arm lifting device, a power supply device, an equipment control center, a data processing center, an RGB camera I, an RGB camera II, a depth camera I, a depth camera II, a display screen, an equipment mounting platform, a platform balancing device, a platform lifting device, a device carrying vehicle and an apple storage vehicle. The device can adapt to automatic apple picking work in most actual scenes, automatic recognition and detection of apples are achieved through the machine vision technology, cooperative work of multiple mechanical arms is achieved through the PLC automatic control technology, apple picking on the two sides can be conducted at the same time, and the picking speed is increased. 本发明提供基于机器视觉的苹果自动采摘装置及其控制方法，属于苹果自动采摘领域，装置包括机械手、机械臂、机械臂升降装置、电源装置、设备控制中心、数据处理中心、RGB相机