A fruit picking method based on a fruit three-dimensional parameter prediction model

Abstract

The present application discloses a fruit picking method based on a fruit three-dimensional parameter prediction model, including: first image acquisition and processing of the fruit to be picked to obtain the first image; determination of the first range; control of the robot arm for the first movement processing ; Carry out intermittent gas injection processing, so that the fruits to be picked are forced to vibrate; Carry out multiple second image acquisition processing to obtain multiple second images; Use the first image as a reference object to filter out the offset balance The two designated second images with the largest positions; they are jointly input into the preset three-dimensional parameter prediction model of the fruit, so as to obtain the predicted three-dimensional parameters; the robot arm is controlled to perform the second moving process; the position of the fruit handle is cut, The fruit to be picked is dropped onto the robotic hand, so that the fruit can be picked accurately and intelligently without harming the fruit and the fruit tree.

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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