Automated walnut picking and collecting method based on multi-sensor fusion technology
US11406061B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Sep 14, 2021 |
| Grant date | Aug 9, 2022 |
| Priority date | — |
| Expiry date | Sep 14, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/20081
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
Disclosed is an automated walnut picking and collection method based on multi-sensor fusion technology, including: operation 1.1: when a guide vehicle for automated picking and collection is started, performing path planning for the guide vehicle; operation 1.2: remotely controlling the guide vehicle to move in a park according to a first predetermined rule, and collecting laser data of the entire park; operation 1.3: constructing a two-dimensional offline map; operation 1.4: marking a picking road point on the two-dimensional offline map; operation 2.1: performing system initialization; operation 2.2: obtaining a queue to be collected; operation 2.3: determining and sending, by the automated picking system, a picking task; operation 2.4: arriving, by the picking robot, at picking target points in sequence; operation 2.5: completing a walnut shaking and falling operation; and operation 2.6: collecting shaken walnuts. The provided method can obtain high-precision fruit coordinates and complete autonomous harvesting precisely and efficiently.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.