Picking robot control method and system based on visual identification

A picking robot and visual recognition technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of reduced picking efficiency, different types of fruits and vegetables, and different distribution positions.

Active Publication Date: 2022-03-15
YANCHENG INST OF TECH +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] At present, there are many kinds of picking robots according to the picking types, such as: strawberry picking robots, citrus picking robots and apple picking robots; picking robots generally set picking tasks manually and carry out corresponding picking work; In the orchard, the type

Method used

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  • Picking robot control method and system based on visual identification
  • Picking robot control method and system based on visual identification
  • Picking robot control method and system based on visual identification

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Embodiment Construction

[0147] The preferred embodiments of the present invention will be described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described here are only used to illustrate and explain the present invention, and are not intended to limit the present invention.

[0148] An embodiment of the present invention provides a visual recognition-based picking robot control method, such as figure 1 shown, including:

[0149] Step S1: Obtain the planting distribution map, and control the picking robot to a suitable picking area based on the planting distribution map;

[0150] Step S2: When the picking robot arrives at the picking area, control the picking robot to collect the environmental depth image of the picking area;

[0151] Step S3: planning an appropriate first fruit picking control strategy based on the environmental depth image;

[0152] Step S4: Based on the first fruit picking control strategy, control the picking robot ...

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Abstract

The invention provides a picking robot control method and system based on visual identification, and the method comprises the steps: S1, obtaining a planting distribution diagram, and controlling a picking robot to go to a proper picking region based on the planting distribution diagram; s2, when the picking robot arrives at the picking area, the picking robot is controlled to collect an environment depth image of the picking area; s3, planning a proper first fruit picking control strategy based on the environment depth image; and S4, based on the first fruit picking control strategy, controlling the picking robot to pick corresponding fruits. According to the picking robot control method and system based on visual identification, a picking task does not need to be set manually, the labor cost is reduced to a great extent, the picking efficiency is improved, and the picking robot control method and system have higher applicability for a comprehensive orchard.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a method and system for controlling a picking robot based on visual recognition. Background technique [0002] At present, there are many kinds of picking robots according to the picking types, such as: strawberry picking robots, citrus picking robots and apple picking robots; picking robots generally set picking tasks manually and carry out corresponding picking work; In the orchard, the types of fruits and vegetables in the orchard are different, and the distribution locations are also different. When picking robots of different picking types are put into use, if the picking tasks are still set manually, the labor cost will be greater, and the picking efficiency will be reduced; [0003] Therefore, a solution is urgently needed. Contents of the invention [0004] One of the objects of the present invention is to provide a picking robot control method and system based o...

Claims

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Application Information

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IPC IPC(8): B25J11/00B25J9/16
CPCB25J11/00B25J9/16B25J9/1697
Inventor 刘玮程锦周廷玉徐之豪
Owner YANCHENG INST OF TECH
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