Sky-earth integrated picking method for citrus

Abstract

The invention discloses an automatically-picking method for citrus. The method divides citrus picking into two steps: picking in air and picking on the ground; and the method specially comprises the following steps: a high-precision satellite positioning device is adopted to determine an accurate position of a drone, a binocular visual positioning device carried on the drone is utilized to collectinformation of each citrus tree in a planting area, an image processing method is utilized to obtain spatial three-dimensional coordinates of each citrus tree trunk and mature citrus, information ofall citrus trees and mature citrus in the planting area can be collected a short time and preliminary orientation can be performed; and before picking is performed, the preliminary positioning coordinates are imported and stored in a ground picking system, the ground picking system moves along spacing of rows of the fruit trees and stops in front of each citrus tree, a picking mechanical hand is driven to move to a 0.2 m spatial range of a mature citrus spatial three-dimensional coordinate, a binocular vision positioning device carried by the mechanical hand and same as that of the drone is started, searching is performed within a very small range (+ / - 0.25 m) of the stored mature citrus spatial three-dimensional coordinates, so that the mature citrus can be found and confirmed, precise positioning is performed, and automatic picking is performed until picking of all the mature citrus is completed.

Description

technical field

[0001] The invention relates to an automatic picking method for citrus, in particular to a method for picking citrus integrated with heaven and earth. Background technique

[0002] When manually picking the fruits of fruit trees such as citrus, due to the different shapes of fruit trees growing under natural conditions, the branches are well developed, and the canopy exceeds the height of the human body, the fruits grow unevenly between the branches and the front and back. The efficiency is low, and there is a certain risk. It is the general trend to replace manual picking with automated picking. Automatic picking on the ground requires the use of machine vision positioning. Machine vision is seriously affected by natural light. The angle of sunlight and light intensity are constantly changing during continuous operations. Machine vision is interfered by background light, and often cannot identify and locate citrus, making the picking operation unable to proc...

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