Fruit picking method based on fruit three-dimensional parameter prediction model

A prediction model and fruit technology, applied in the computer field, can solve the problems of fruit tree damage and insufficient intelligence, and achieve the effect of accurate positioning and picking, and accurate and intelligent picking.

Active Publication Date: 2021-07-13
GUANGDONG POLYTECHNIC NORMAL UNIV
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Problems solved by technology

However, these existing automated picking technologies are not intelligent enough, an

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  • Fruit picking method based on fruit three-dimensional parameter prediction model
  • Fruit picking method based on fruit three-dimensional parameter prediction model

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[0053] In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application.

[0054] refer to figure 1 , the embodiment of the present application provides a fruit picking method based on a fruit three-dimensional parameter prediction model, comprising the following steps:

[0055] S1, using a preset camera to perform the first image acquisition and processing on the fruit to be picked, so as to obtain a first image;

[0056] S2. According to a preset range positioning method, based on the first image, determine a first range containing the fruit to be picked;

[0057] S3. Control the preset robot hand to perform the first movement processing,...

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Abstract

The invention discloses a fruit picking method based on a fruit three-dimensional parameter prediction model. The fruit picking method comprises the steps that first image collection processing is carried out on to-be-picked fruits to obtain a first image; a first range is determined; a manipulator is controlled to perform first movement processing; intermittent gas injection treatment is carried out, so that the to-be-picked fruits are forced to vibrate; secondary image collection processing is carried out for multiple times to obtain a plurality of second images; the first image is used as a reference object, and two specified second images with the maximum offset balance position are screened out; the second images are jointly input into a preset fruit three-dimensional parameter prediction model to obtain predicted three-dimensional parameters; the manipulator is controlled to perform second-time movement processing; and the fruit stem position is cut, so that the to-be-picked fruits fall onto the manipulator, and the purposes of accurately and intelligently picking the fruits and not damaging the fruits and fruit trees are achieved.

Description

technical field [0001] The present application relates to the field of computers, in particular to a fruit picking method, device, computer equipment and storage medium based on a fruit three-dimensional parameter prediction model. Background technique [0002] Intelligent picking technology is an important technology for fruit picking in automated agriculture. In order to save the increasingly high labor costs, some automated picking technologies have emerged, such as using unfolded plastic film as a fruit adapter, and then using a vibration generator to vibrate fruit trees. trunk so that the fruit falls off into the plastic film. However, these existing automated picking technologies are not intelligent enough, and cannot avoid damage to the fruit, and may even cause damage to the fruit tree itself. Therefore, there is currently a lack of solutions for carrying out precise and intelligent picking of fruits without harming fruits and fruit trees. Contents of the inventio...

Claims

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Application Information

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IPC IPC(8): A01D46/30
CPCA01D46/30A01D2046/268G06T7/73G06T2207/30128G06T2207/20081G06T2207/20084G06T7/62G06T7/579
Inventor 唐宇骆少明陈尉钊李嘉豪杨捷鹏符伊晴赵晋飞张晓迪郭琪伟庄鑫财黄华盛侯超钧庄家俊苗爱敏
Owner GUANGDONG POLYTECHNIC NORMAL UNIV
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