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

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...

AI Technical Summary

Problems solved by technology

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

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