Fruit picking method based on three-dimensional parameter prediction model for fruit
US11737393B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | May 13, 2022 |
| Grant date | Aug 29, 2023 |
| Priority date | — |
| Expiry date | May 13, 2042 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30128
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A fruit picking method based on a three-dimensional parameter prediction model for a fruit comprises: performing first-time image acquisition processing on a to-be-picked fruit to obtain a first image; determining a first range; controlling a manipulator to perform first-time moving processing; performing intermittent gas injection treatment to lead to forced vibration of the to-be-picked fruit; performing second-time image acquisition processing many times to obtain a plurality of second images; screening out, by taking the first image as an reference object, two appointed second images deviating from an equilibrium position to the maximum extent; jointly inputting the images into a preset three-dimensional parameter prediction model for the fruit so as to obtain predicted three-dimensional parameters; controlling the manipulator to perform second-time moving processing; and performing cutting processing on a fruit stem position to make the to-be-picked fruit fall onto the manipulator.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.