CN108617264A - A kind of automatic picking method of fruit and robot - Google Patents
A kind of automatic picking method of fruit and robot Download PDFInfo
- Publication number
- CN108617264A CN108617264A CN201810413367.4A CN201810413367A CN108617264A CN 108617264 A CN108617264 A CN 108617264A CN 201810413367 A CN201810413367 A CN 201810413367A CN 108617264 A CN108617264 A CN 108617264A
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- China
- Prior art keywords
- fruit
- control system
- intelligence control
- picking
- robot
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D91/00—Methods for harvesting agricultural products
- A01D91/04—Products growing above the soil
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to intelligent use technical field more particularly to a kind of automatic picking methods of fruit and robot, include the following steps：S1, the image for obtaining fruit to be picked, and feed back to intelligence control system；S2, intelligence control system handle described image, and judge whether fruit is ripe, if so, S3 is carried out, if it is not, then repeating S1；S3, intelligence control system position mellow fruit, and send picking instruction to picking robot；S4, intelligence control system control picking robot pick mellow fruit.Obtain the image of fruit to be picked, and there is intelligence control system to handle image, and judge whether fruit is ripe, then intelligence control system positions mellow fruit, and send picking instruction to picking robot, mellow fruit is picked, all operations are all that mechanization is intelligentized without human intervention, save a large amount of human costs.
Description
Technical field
The present invention relates to intelligent use technical field more particularly to a kind of automatic picking methods of fruit and robot.
Background technology
China's agricultural population accounts for more than half of total population close to 800,000,000, and 12,100,000,000 hectares of cultivated area ranks the third of the world
Position, accounts for percent 8.0% of world's total area under cultivation or so, year about 500,000,000 tons of total output of grain.Therefore, China is an agricultural
Big country, however the mechanization degree of China's agricultural is relatively low, it is basic still in the intensive cultivation using peasant's epoch, gourd, fruit and vegetable etc.
The plantation and picking of agricultural product need a large amount of human resources.
However as the development of social economy, human cost is gradually increasing, and the cost of labour is also increasing, this is very big
Agriculture production cost is improved to degree, Economic Benefit of Agricultural Production is made to decline to a great extent.In order to solve this problem, more and more
Intelligentized mechanical equipment increased economic efficiency applied to agricultural production with reducing labor cost.Applied to agricultural production
Smart machine come into being, such as：Applied to the robot of seedling in greenhouse, the robot etc. for flowers grafting.These
Robot can be automatically performed the work needed for some, to considerably reduce labour, reduce production cost.
But in terms of industry of planting forest or fruit tress, such as the fruit trees such as Chinese chestnut, walnut, apple, pears are dry with tall trees, and fruit is in
Stochastic regime is distributed, and causes the maturity for judging fruit and picking relatively difficult.
Although the prior art has had the robot applied to picking fruit, can not to judging whether fruit ripe,
Precise positioning can not be carried out to fruit.
It would therefore be highly desirable to need a kind of automatic picking method of fruit and robot to solve above-mentioned technical problem.
Invention content
It is an object of the invention to propose a kind of automatic picking method of fruit and robot, can solve judge fruit
It is whether ripe, the technical issues of precise positioning can not being carried out to fruit.
For this purpose, the present invention uses following technical scheme：
A kind of automatic picking method of fruit, includes the following steps：
S1, the image for obtaining fruit to be picked, and feed back to intelligence control system；
S2, intelligence control system handle described image, and judge whether fruit is ripe, if so, S3 is carried out, if it is not, then
Repeat S1；
S3, intelligence control system position mellow fruit, and send picking instruction to picking robot；
S4, intelligence control system control picking robot pick mellow fruit.
The image of fruit to be picked is obtained, and has intelligence control system to handle image, and judges whether fruit is ripe, then
Intelligence control system positions mellow fruit, and sends picking instruction to picking robot, to maturation
Fruit is picked, and all operations are all that mechanization is intelligentized without human intervention, save a large amount of human costs.
Preferably, the image of fruit to be picked is obtained using multispectral video camera.
Preferably, judge whether ripe mode includes the following steps fruit：
T1, intelligence control system processing image obtain sugared, acid content and the sugar-acid ratio of fruit in fruit；
T2, intelligence control system judge whether the sugar-acid ratio of fruit is more than the default sugar-acid ratio of fruit, if so, fruit is
Through maturation, if it is not, then fruit prematurity.
Preferably, mellow fruit is positioned, mellow fruit is positioned using laser positioning,
Obtain the coordinate of ripening fruits.
Preferably, the mode that picking robot picks mellow fruit includes the following steps：
V1, intelligence control system control machinery hand reach at the coordinate, and mature fruit is clamped；
The mature fruit of scissors picking of V2, intelligence control system control machinery hand；
The mature fruit picked is placed on the dress on picking robot by V3, intelligence control system control machinery hand
It carries in case, then repeatedly step V1.
Preferably, the image for obtaining fruit to be picked is the general image of the collecting fruit under multiple specific preset wavelengths
With surface light spot image.
A kind of robot, the robot use the automatic picking method of above-described fruit.
Beneficial effects of the present invention are：
The image of fruit to be picked is obtained, and has intelligence control system to handle image, and judges whether fruit is ripe, then
Intelligence control system positions mellow fruit, and sends picking instruction to picking robot, to maturation
Fruit is picked, and all operations are all that mechanization is intelligentized without human intervention, save a large amount of human costs.
In addition, using the general image and surface light of multispectral video camera collecting fruit under multiple specific preset wavelengths
Spot image judges whether fruit is ripe, and this judgment mode only needs intelligence system to carry out to determine the sugar-acid ratio of fruit
A series of operation compares saving human cost without human intervention.
Description of the drawings
Fig. 1 is a kind of automatic picking method flow chart of fruit of the present invention.
Specific implementation mode
The technical solution further illustrated the present invention with reference to embodiment.It is understood that described herein
Specific embodiment is used only for explaining the present invention rather than limitation of the invention.
Present embodiment discloses a kind of automatic picking methods of fruit as shown in Figure 1, which is characterized in that includes the following steps：
S1, the image that fruit to be picked is obtained using multispectral video camera are to acquire fruit under multiple specific preset wavelengths
Real general image and surface light spot image, and feed back to intelligence control system；
The image that S2, intelligence control system processing D1 are obtained, and judge whether fruit is ripe, if so, S3 is carried out, if
It is no, then repeatedly S1；
S3, intelligence control system position mellow fruit using laser positioning, obtains ripening fruits
Coordinate, and send picking instruction to picking robot；
S4, intelligence control system control picking robot pick mellow fruit.
Judge whether ripe mode specifically includes following steps to fruit：
The image that T1, intelligence control system processing S1 are obtained obtains sugared, acid content and the sugar-acid ratio of fruit in fruit；
T2, intelligence control system judge whether the sugar-acid ratio of fruit is more than the default sugar-acid ratio of fruit, if so, fruit is
Through maturation, if it is not, then fruit prematurity.
The mode that picking robot picks mellow fruit specifically includes following steps：
V1, intelligence control system control machinery hand reach at the coordinate, and mature fruit is clamped；
The mature fruit of scissors picking of V2, intelligence control system control machinery hand；
The mature fruit picked is placed on the dress on picking robot by V3, intelligence control system control machinery hand
It carries in case, then repeatedly step V1.
The present embodiment also discloses a kind of robot, which uses above-described picking fruit control method.
Applicant states that the present invention has carried out illustrative description by above-described embodiment, it is clear that the present invention implements
It is not subject to the restrictions described above, as long as using changing for the various unsubstantialities of design and the technical solution progress of the present invention
Into, or it is not improved the design of the present invention and technical solution are directly applied into other occasions, the equal protection models in the present invention
Within enclosing.
Claims (7)
1. a kind of automatic picking method of fruit, which is characterized in that include the following steps：
S1, the image for obtaining fruit to be picked, and feed back to intelligence control system；
S2, intelligence control system handle described image, and judge whether fruit is ripe, if so, S3 is carried out, if it is not, then repeating
S1；
S3, intelligence control system position mellow fruit, and send picking instruction to picking robot；
S4, intelligence control system control picking robot pick mellow fruit.
2. the automatic picking method of fruit according to claim 1, which is characterized in that obtained using multispectral video camera and wait adopting
Pluck the image of fruit.
3. the automatic picking method of fruit according to claim 1, which is characterized in that judge the whether ripe mode packet of fruit
Include following steps：
T1, intelligence control system processing image obtain sugared, acid content and the sugar-acid ratio of fruit in fruit；
T2, intelligence control system judge fruit sugar-acid ratio whether be more than fruit default sugar-acid ratio, if so, fruit at
It is ripe, if it is not, then fruit prematurity.
4. the automatic picking method of fruit according to claim 1, which is characterized in that determine mellow fruit
Position, positions mellow fruit using laser positioning, obtains the coordinate of ripening fruits.
5. the automatic picking method of fruit according to claim 4, which is characterized in that picking robot is to ripe fruit
The mode picked in fact includes the following steps：
V1, intelligence control system control machinery hand reach at the coordinate, and mature fruit is clamped；
The mature fruit of scissors picking of V2, intelligence control system control machinery hand；
The mature fruit picked is placed on the carrying case on picking robot by V3, intelligence control system control machinery hand
It is interior, then repeatedly step V1.
6. the automatic picking method of fruit according to claim 1, which is characterized in that the image for obtaining fruit to be picked be
The general image and surface light spot image of collecting fruit under multiple specific preset wavelengths.
7. a kind of robot, which is characterized in that the robot uses the side of picking automatically of the fruit as described in claim 1-6
Method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810413367.4A CN108617264A (en) | 2018-05-03 | 2018-05-03 | A kind of automatic picking method of fruit and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810413367.4A CN108617264A (en) | 2018-05-03 | 2018-05-03 | A kind of automatic picking method of fruit and robot |
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| Publication Number | Publication Date |
|---|---|
| CN108617264A true CN108617264A (en) | 2018-10-09 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810413367.4A Withdrawn CN108617264A (en) | 2018-05-03 | 2018-05-03 | A kind of automatic picking method of fruit and robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111972123A (en) * | 2020-07-17 | 2020-11-24 | 武汉爱农云联科技有限公司 | Intelligent fruit and vegetable picking recommendation method and device based on intelligent planter |
| CN112243698A (en) * | 2020-10-22 | 2021-01-22 | 安徽农业大学 | Automatic walnut picking and collecting method based on multi-sensor fusion technology |
| CN113099847A (en) * | 2021-05-25 | 2021-07-13 | 广东技术师范大学 | Fruit picking method based on fruit three-dimensional parameter prediction model |
| CN113692222A (en) * | 2019-02-15 | 2021-11-23 | 阿普哈维斯特技术股份有限公司 | Maturity detection system using hue color space and peak lookup |
-
2018
- 2018-05-03 CN CN201810413367.4A patent/CN108617264A/en not_active Withdrawn
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113692222A (en) * | 2019-02-15 | 2021-11-23 | 阿普哈维斯特技术股份有限公司 | Maturity detection system using hue color space and peak lookup |
| CN111972123A (en) * | 2020-07-17 | 2020-11-24 | 武汉爱农云联科技有限公司 | Intelligent fruit and vegetable picking recommendation method and device based on intelligent planter |
| CN112243698A (en) * | 2020-10-22 | 2021-01-22 | 安徽农业大学 | Automatic walnut picking and collecting method based on multi-sensor fusion technology |
| US11406061B2 (en) | 2020-10-22 | 2022-08-09 | Anhui Agricultural University | Automated walnut picking and collecting method based on multi-sensor fusion technology |
| CN113099847A (en) * | 2021-05-25 | 2021-07-13 | 广东技术师范大学 | Fruit picking method based on fruit three-dimensional parameter prediction model |
| CN113099847B (en) * | 2021-05-25 | 2022-03-08 | 广东技术师范大学 | Fruit picking method based on fruit three-dimensional parameter prediction model |
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Application publication date: 20181009 |