A kind of agricultural robot parallel picking system based on visual servo is presented

which is composed of 4 parts: the visual system

the upper computer

the lower computer and the parallel mechanism.Images of targets are acquired by the visual system and transfer to the upper computer. The upper computer processes images

and identifies and locates object

calculates motion control quantity of parallel mechanism

send the motion control quantity to the lower computer through the serial communication. According to the motion control quantity

the lower computer drives relay modules to finish corresponding switch action and complete parallel manipulator control. Experiments show that the system is feasible for the implementation of agricultural robot picking operation.