CN111758396B - 一种基于视觉协作系统的自行走花椒采摘机器人 - Google Patents
一种基于视觉协作系统的自行走花椒采摘机器人 Download PDFInfo
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- CN111758396B CN111758396B CN202010703898.4A CN202010703898A CN111758396B CN 111758396 B CN111758396 B CN 111758396B CN 202010703898 A CN202010703898 A CN 202010703898A CN 111758396 B CN111758396 B CN 111758396B
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- 241000949456 Zanthoxylum Species 0.000 title claims description 20
- 235000002566 Capsicum Nutrition 0.000 claims abstract description 158
- 239000006002 Pepper Substances 0.000 claims abstract description 142
- 241000722363 Piper Species 0.000 claims abstract description 142
- 235000016761 Piper aduncum Nutrition 0.000 claims abstract description 142
- 235000017804 Piper guineense Nutrition 0.000 claims abstract description 142
- 235000008184 Piper nigrum Nutrition 0.000 claims abstract description 142
- 238000012216 screening Methods 0.000 claims abstract description 74
- 238000001035 drying Methods 0.000 claims abstract description 51
- 239000012535 impurity Substances 0.000 claims abstract description 36
- 238000009434 installation Methods 0.000 claims abstract description 11
- 230000033001 locomotion Effects 0.000 claims description 44
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- 241000758706 Piperaceae Species 0.000 description 16
- 235000008496 Drimys aromatica Nutrition 0.000 description 14
- 241000159245 Schinus Species 0.000 description 14
- 235000005151 Schinus molle Nutrition 0.000 description 14
- 235000013880 Schinus terebinthifolius var. raddianus Nutrition 0.000 description 14
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Signal Processing (AREA)
- Electromagnetism (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (7)
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CN202010703898.4A CN111758396B (zh) | 2020-07-21 | 2020-07-21 | 一种基于视觉协作系统的自行走花椒采摘机器人 |
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CN202010703898.4A CN111758396B (zh) | 2020-07-21 | 2020-07-21 | 一种基于视觉协作系统的自行走花椒采摘机器人 |
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CN111758396A CN111758396A (zh) | 2020-10-13 |
CN111758396B true CN111758396B (zh) | 2023-12-05 |
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CN202010703898.4A Active CN111758396B (zh) | 2020-07-21 | 2020-07-21 | 一种基于视觉协作系统的自行走花椒采摘机器人 |
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Families Citing this family (5)
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CN112214039B (zh) * | 2020-10-14 | 2023-05-02 | 哈尔滨工程大学 | 一种基于机器视觉的光电目标搜索车及其控制方法 |
CN113519288B (zh) * | 2021-07-14 | 2022-06-21 | 西南大学 | 一种基于路径规划的多自由度花椒枝自动切割装置 |
CN113771060A (zh) * | 2021-09-27 | 2021-12-10 | 季华实验室 | 一种夹持机构及多果快速采摘机器人 |
CN115997560B (zh) * | 2022-12-30 | 2023-12-01 | 北京中科原动力科技有限公司 | 一种基于机械臂的果实采摘方法、系统及装置 |
CN116652951B (zh) * | 2023-06-08 | 2024-04-05 | 广州鑫帅机电设备有限公司 | 一种非结构化大作业空间的机器人视觉定位方法及装置 |
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DE19641807A1 (de) * | 1996-10-10 | 1998-04-16 | Hans Spiegler | Obstpflücker mit Drehkranz |
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