A parallel identification and picking system and method applied to fruit picking robots
A technology for picking robots and fruits, which is applied in the field of image recognition, and can solve problems such as the inability to implement parallelization strategies, the difficulty in realizing parallel control of the control part, and the difficulty in identifying and picking technology for picking robots.
Inactive Publication Date: 2021-07-06
WUHAN UNIV OF SCI & TECH
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Problems solved by technology
[0002] At present, although picking robots are used more and more widely, it is difficult to realize parallelization strategies for the identification and picking technology of picking robots. matching) cannot achieve parallelization strategy, and the control part is also difficult to achieve parallel control (walking device, robotic arm positioning and end effector)
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[0028] In order to facilitate those of ordinary skill in the art to understand and implement the present invention, the present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the implementation examples described here are only used to illustrate and explain the present invention, and are not intended to limit this invention.
[0029] please see figure 1 , a parallel identification and picking system applied to fruit picking robots provided by the present invention includes a host computer and a lower computer;
[0030] The upper computer includes an image matching recognition module, an image segmentation module, a data processing module, a path planning decision module, and a first communication module; Planning decisions, and feedback path planning decisions to the lower computer; each module has an independent calculation part, which can independently complete the corresponding...
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The invention discloses a parallel identification and picking system and method applied to fruit picking robots, including a host computer and a lower computer; the host computer includes an image matching identification module, an image segmentation module, a data processing module, a path planning decision module, a first communication module; the upper computer is used to receive the image uploaded by the lower computer, and perform image matching recognition, segmentation, picking location positioning, path planning decision, and feed back the path planning decision to the lower computer; the lower computer includes a video image acquisition module, a second communication Module, control module, the lower computer is used to collect images, upload the images to the upper computer, and receive the information fed back by the upper computer to realize the walking control of the picking robot, the space positioning control of the mechanical arm and the grasping control of the end effector; each module All have independent computing parts, can independently complete the corresponding control work, and can also realize the cooperative processing of various modules. The invention has good expansion performance and good parallelization effect.
Description
technical field [0001] The invention belongs to the technical field of image recognition and relates to a parallel recognition method, in particular to a parallel recognition and picking system and method applied to a fruit picking robot. Background technique [0002] At present, although picking robots are used more and more widely, it is difficult to realize parallelization strategies for the identification and picking technology of picking robots. Matching) cannot achieve parallelization strategy, and the control part is also difficult to achieve parallel control (walking device, robotic arm positioning and end effector). Contents of the invention [0003] In order to solve the above technical problems, the present invention provides a parallel identification and picking system and method applied to fruit picking robots. [0004] The technical solution adopted by the system of the present invention is: a parallel identification and picking system applied to fruit picki...
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IPC IPC(8): A01D46/30G06K9/00G06K9/34G06K9/62
CPCA01D46/30G06V20/10G06V10/267G06V10/751G06V20/68G06F18/23213
Inventor 王浩邹光明王炯王欣张晓寒
Owner WUHAN UNIV OF SCI & TECH