String type fruit distributed visual active sensing method and application thereof

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...

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 scene, and effectively solve the picking operation Insufficient information decision-making and redundant manipulator activities can improve the recognition rate of string-shaped fruits, effectively reduce the uncertainty of picking occluded or overlapping fruits, and improve the picking efficiency of string-shaped fruits

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