Visual-based fruit basket tracking method and device for orchard transport vehicle

By using a vision-based fruit basket tracking method for orchard transport vehicles, combined with depth cameras and inertial measurement units, the position and attitude of the transport vehicles are estimated in real time and the shortest path is planned. This solves the problem of insufficient autonomous operation capability of orchard transport machinery and achieves high-efficiency fruit transfer.

CN115727841BActive Publication Date: 2026-07-24CHINESE ACAD OF AGRI MECHANIZATION SCI GRP CO LTD
2 Cites 0 Cited by

Patent Information

Application Number
CN202111018857.2
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2021-09-01
Publication Date
2026-07-24
Estimated Expiration
2041-09-01

AI Technical Summary

Technical Problem

Existing orchard transport machinery lacks autonomous operation capabilities, resulting in low labor productivity. Furthermore, satellite navigation is not highly accurate in orchard environments, and visual navigation technology is rarely used in fruit transport tasks.

Method used

A vision-based method for tracking fruit baskets in orchard transport vehicles is adopted, including global position and attitude estimation of the orchard transport vehicle, target detection and global position transformation of the fruit baskets, and path planning for tracking the fruit baskets. Real-time data acquisition is carried out using depth cameras and inertial measurement units, and the shortest path is planned by combining visual inertial odometry calculation and modern optimization algorithms.

Benefits of technology

It enables unmanned operation of orchard transport vehicles, improves the efficiency of fruit transfer, ensures high-precision navigation and route planning in complex orchard environments, avoids human interference, and improves transportation efficiency.

✦ Generated by Eureka AI based on patent content.
Patent Text Reader

Abstract

A visual-based fruit basket tracking method and device for orchard transport vehicles, the method comprising the following steps: real-time estimation of the global position and posture of the orchard transport vehicle; during the driving of the orchard transport vehicle, real-time data collected by sensors are used to estimate the global position and posture of the orchard transport vehicle based on a visual-inertial odometry calculation method, so as to obtain the real-time relative position and relative posture of the orchard transport vehicle relative to the starting point; target detection and global position conversion of the fruit basket; the coordinates of the fruit basket recognition frame are obtained based on a target detection algorithm, and the position and posture are converted to obtain the relative position of the fruit basket in the global position relative to the starting point; and path planning for fruit basket tracking, in which the shortest driving distance is taken as the optimization target to plan the shortest path for the transport vehicle to traverse all the fruit baskets once and return to the initial starting point. The application also provides a visual-based fruit basket tracking device for orchard transport vehicles, which uses the method to plan the shortest path for the orchard transport vehicle according to the global position of the fruit basket.
Need to check novelty before this filing date? Find Prior Art