Intelligent fruit picking machine and picking method

Abstract

The invention discloses an intelligent fruit picking machine and a picking method. The picking machine comprises a vehicle body, a fruit picking mechanism, a camera, a control device and a fixed installation device; the fixed installation device comprises a rotating base, a lifting support and a stretchable picking rod, the lifting support is fixedly installed on the vehicle body through the rotating base, the stretchable picking rod is installed at the top of the free stretchable end of the lifting support through a pitching mechanism, an ultrasonic range sensor is arranged on the fruit picking mechanism, a three-dimensional attitude sensor is arranged on the stretchable picking rod, the control device continues to collect image information through a camera and works out position information of fruits in camera frames, then, the horizontal position, as high as a fruit to be picked, of the picking rod is adjusted through the rotating base and the lifting support, and finally the fruitpicking mechanism is driven through the stretchable picking rod to pick the fruit by means of fruit distance information fed back by the ultrasonic range sensor. The intelligent fruit picking machineis stable in working, reliable in performance, high in automatic degree and high in picking efficiency.

Description

technical field [0001] The invention belongs to the field of fruit picking, and relates to a fruit picking device, in particular to an intelligent fruit picking machine and a picking method. Background technique [0002] At present, fruit picking is mainly carried out manually. Even some automated picking equipment requires manual operation. Manually position the fruit, and then drive the equipment to pick. , the general algorithm of image processing and computer vision provided in opencv (a cross-platform computer vision library based on BSD license (open source)) can realize the location of apples. This technology mainly uses the color and shape outline of apples. Apple locates, collects image data through the camera and converts it from RGB format to HSV format (in this format, the division of each color is more obvious, making the separation of apples easier), and then erodes and expands the image. Highlight the position of the apple and return a relative coordinate of ...

AI Technical Summary

Problems solved by technology

[0002] At present, fruit picking is mainly carried out manually. Even some automated picking equipment requires manual operation. Manually position the fruit, and then drive the equipment to pick. , the general algorithm of image processing and computer vision provided in opencv (a cross-platform computer vision library based on BSD license (open source)) can realize the location of apples. This technology mainly uses the color and shape outline of apples. Apple locates, collects image data through the camera and converts it from RGB format to HSV format (in this format, the division of each color is more obvious, making the separation of apples easier), and then erodes and expands the image. Highlight the position of the apple and return a relative coordinate of the apple relative to the camera's viewing angle. This technology can realize the positioning of the fruit, and with certain picking equipment and control methods, it can realize highly automated picking. However, there is still a lack of related technologies.

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