A vision
system and method for a pine cone harvesting platform, belonging to the field of intelligent
forestry equipment, addresses the problems of low target recognition accuracy, difficulty in
maturity assessment, and insufficient harvesting positioning precision in existing
drone harvesting systems operating in complex forest environments. The
system includes a
vision processing unit, a wide-angle
gimbal camera, a
LiDAR, and a hand-eye camera. The wide-angle
gimbal camera acquires distant visual images. The
vision processing unit uses a priori information-guided detection method to identify pine cone targets and combines
LiDAR point cloud data to plan the platform's motion path. The hand-eye camera, mounted at the end of a
robotic arm, acquires near-field images and depth information after the platform reaches the target area. The
vision processing unit uses an attention-weighted mechanism to fuse color, size, and scale flipping angle features to determine maturity, locate the strike point, and control the harvesting
actuator to complete the operation. This invention achieves high-precision identification and positioning of pine cone targets through two-stage visual
collaboration and multi-dimensional
feature fusion.