Binocular-vision-based oil tea fruit picking system and control method

Abstract

The invention provides a binocular-vision-based oil tea fruit picking system and a control method. The method comprises the steps: generating a walking instruction by a control device according to a walking route planned in advance, wherein the walking instruction is used for driving a crawler-type mobile device to advance to picking destinations; acquiring an oil tea fruit image by a binocular vision device, and determining picking information of the oil tea fruit according to the oil tea fruit image; and generating a picking instruction by the control device according to the picking information, and respectively transmitting the picking instruction to a picking executing mechanism and a mechanical arm. The binocular-vision-based oil tea fruit picking system is capable of walking according to the planned walking route, fruits on the plurality of picking destinations on the walking route are picked, when a person reaches the picking destinations, the oil tea fruit image is acquired bythe binocular vision device and is processed to obtain the picking information, the picking instruction for controlling the picking executing mechanism and the mechanical arm to execute picking is obtained according to the picking information, and then, the automatic picking of oil tea fruits is realized, so that manpower is saved, and the efficiency is increased.

Description

technical field [0001] The invention mainly relates to the technical field of automatic picking, in particular to a binocular vision-based Camellia oleifera fruit picking system and control method. Background technique [0002] Camellia oil has high health care and nutritional value. In order to ensure the safety of grain and oil, the country attaches great importance to and supports the development of camellia oleifera industry. At present, camellia oleifera fruit picking mainly relies on manual picking, which is labor-intensive and inefficient. Camellia oleifera fruit picking has become the weakest link in the development of the camellia oleifera industry, and has gradually become a bottleneck hindering the rapid development of the camellia oleifera industry. Contents of the invention [0003] The technical problem to be solved by the present invention is to provide a binocular vision-based Camellia oleifera fruit picking system and control method for the deficiencies of...

AI Technical Summary

Problems solved by technology

[0002] Camellia oil has high health care and nutritional value. In order to ensure the safety of grain and oil, the country attaches great importance to and supports the development of camellia oleifera industry. At present, the picking of camellia oleifera fruit mainly relies on manual picking, which has a large labor load and extremely low efficiency.

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