String type fruit distributed visual active sensing method and application thereof

A distributed and fruitful technology, applied in the direction of applications, neural learning methods, data processing applications, etc., can solve problems such as redundancy and insufficiency

Active Publication Date: 2020-09-01
SOUTH CHINA AGRI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to overcome the shortcomings existing in the prior art, and provide a distributed visual active perception method for cluster fruits, which can realize the joint cooperation of large field of view target perception and small field of view picking decision-making in the picking

Method used

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  • String type fruit distributed visual active sensing method and application thereof
  • String type fruit distributed visual active sensing method and application thereof
  • String type fruit distributed visual active sensing method and application thereof

Examples

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Embodiment 1

[0062] A string-type fruit picking robot, such as figure 1As shown, it includes manipulator, mobile platform, large field of view camera, small field of view camera and control system; the large field of view camera is Kinect V2 camera, which is vertically fixed on the mobile platform and located on one side of the manipulator, which is relative to the base point of the robot The position of the camera is fixed; the small field of view camera is the Kinect DK camera, which is fixed under the end effector of the manipulator, and its position relative to the base point of the robot changes with the end effector; Perceptual methods for embedded devices.

[0063] Such as figure 2 As shown, the body structure of the manipulator includes a base, a J1-J2 module 2, a lower arm 3, a J3-J4 module 4, an upper arm 5, a J5-J6 module 6, and an end effector 7, and these components are connected in sequence.

[0064] The string-shaped fruit picking robot adopts the distributed visual acti...

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Abstract

The invention discloses a string type fruit distributed visual active sensing method and an application thereof. According to the method, a large-view-field camera is adopted to acquire a large-field-of-view image of a fruit tree, so that large-view-field target sensing is performed, the picking priority of each string type fruit target is obtained, and meanwhile, each picking preparation point ofsecondary sensing is determined; and after a manipulator is driven to reach a picking preparation point, a small-view-field camera moves along with the manipulator, senses and observes string type fruits in a close range, obtains dynamic small-view-field images and realizes active sensing and intelligent picking decision-making of small-view-field targets. The technical problems of insufficient picking operation information decision-making and redundant manipulator operation activities can be reduced, and the picking efficiency of the string type fruits is effectively improved.

Description

technical field [0001] The invention relates to the field of fruit intelligent picking, in particular to a distributed visual active sensing method for string-shaped fruits and its application. Background technique [0002] my country is the main producer of string fruits such as longan, grape, litchi, etc. The total planting and production volume ranks in the forefront of the world, and it has huge economic potential. But at present the harvest of these bunch-type fruits relies on manual picking substantially, and labor intensity is big, and picking cost is high. The manual picking process includes judging the ripeness and quality of the fruit with the naked eye, and then combining tools for manual picking. Studies have shown that during the entire fruit planting and production process, the labor spent on fruit picking accounts for 35% to 45% of the total fruit planting labor force. With the standardization and scale of orchard development, the cost of manual picking will...

Claims

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Application Information

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IPC IPC(8): A01D46/30G06T7/73G06T7/80G06K9/00G06F30/27G06Q10/04G06N3/12G06N3/04G06N3/08
CPCA01D46/30G06T7/73G06T7/80G06F30/27G06Q10/047G06N3/126G06N3/08G06V20/20G06N3/045
Inventor 熊俊涛李中行陈淑绵卜榕彬钟灼刘柏林
Owner SOUTH CHINA AGRI UNIV
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