ES2032703B1 - DETECTION SYSTEM OF OBJECTS TO LOCATE IN A SCENE, ESPECIALLY FOR COLLECTION ROBOT. - Google Patents

DETECTION SYSTEM OF OBJECTS TO LOCATE IN A SCENE, ESPECIALLY FOR COLLECTION ROBOT.

Info

Publication number
ES2032703B1
ES2032703B1 ES9100469A ES9100469A ES2032703B1 ES 2032703 B1 ES2032703 B1 ES 2032703B1 ES 9100469 A ES9100469 A ES 9100469A ES 9100469 A ES9100469 A ES 9100469A ES 2032703 B1 ES2032703 B1 ES 2032703B1
Authority
ES
Spain
Prior art keywords
scene
locate
objects
detection system
camera
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
ES9100469A
Other languages
Spanish (es)
Other versions
ES2032703A1 (en
Inventor
Pascal Choquart
Nathalie Morel
Gilles Rabatel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sagem SA
Original Assignee
Sagem SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sagem SA filed Critical Sagem SA
Publication of ES2032703A1 publication Critical patent/ES2032703A1/en
Application granted granted Critical
Publication of ES2032703B1 publication Critical patent/ES2032703B1/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

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
    • A01D46/24—Devices for picking apples or like fruit
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/70—Circuitry for compensating brightness variation in the scene
    • H04N23/74—Circuitry for compensating brightness variation in the scene by influencing the scene brightness using illuminating means

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Harvesting Machines For Specific Crops (AREA)
  • Image Processing (AREA)

Abstract

SISTEMA DE DETECCION DE OBJETOS A LOCALIZAR EN UNA ESCENA, ESPECIALMENTE PARA ROBOTS RECOLECTORES. EL SISTEMA COMPRENDE UNA CAMARA DE TOMA DE VISTAS (7), UN FLASCH (14) Y MEDIOS DE TRATAMIENTO DE IMAGENES. LA CAMARA ES DEL TIPO DE CAPTADOR CCD Y DE TIEMPO DE INTEGRACION VARIABLE. LOS MEDIOS DE TRATAMIENTO DE IMAGENES (16) COMPRENDEN MEDIOS (23) PARA DISPARAR EL FLASH (14) DE MANERA SINCRONIZADA CON LOS PERIODOS DE INTEGRACION DE LA CAMARA (7) Y DETENERLO PARA QUE SOLAMENTE APORTE LA ENERGIA NECESARIA DURANTE DICHOS PERIODOS DE INTEGRACION. EL SISTEMA SE APLICA BIEN A LA DETECCION DE FRUTAS A RECOLECTAR CON AYUDA DE UN ROBOT.DETECTION SYSTEM OF OBJECTS TO LOCATE IN A SCENE, ESPECIALLY FOR COLLECTING ROBOTS. THE SYSTEM INCLUDES A VIEW CAMERA (7), A FLASCH (14) AND IMAGE TREATMENT MEANS. THE CAMERA IS OF THE TYPE OF CCD SENSOR AND OF VARIABLE INTEGRATION TIME. THE IMAGE TREATMENT MEANS (16) INCLUDE MEANS (23) TO TRIGGER THE FLASH (14) IN SYNCHRONIZATION WITH THE INTEGRATION PERIODS OF THE CAMERA (7) AND STOP IT SO THAT IT ONLY DELIVERS THE NECESSARY ENERGY DURING SUCH INTEGRATION PERIODS. THE SYSTEM APPLIES WELL TO THE DETECTION OF FRUITS TO COLLECT WITH THE HELP OF A ROBOT.

ES9100469A 1990-02-22 1991-02-22 DETECTION SYSTEM OF OBJECTS TO LOCATE IN A SCENE, ESPECIALLY FOR COLLECTION ROBOT. Expired - Fee Related ES2032703B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR9002179A FR2658624B1 (en) 1990-02-22 1990-02-22 SYSTEM FOR DETECTION OF OBJECTS TO BE LOCATED IN A SCENE, IN PARTICULAR FOR A COLLECTION ROBOT.

Publications (2)

Publication Number Publication Date
ES2032703A1 ES2032703A1 (en) 1993-02-16
ES2032703B1 true ES2032703B1 (en) 1994-01-01

Family

ID=9394015

Family Applications (1)

Application Number Title Priority Date Filing Date
ES9100469A Expired - Fee Related ES2032703B1 (en) 1990-02-22 1991-02-22 DETECTION SYSTEM OF OBJECTS TO LOCATE IN A SCENE, ESPECIALLY FOR COLLECTION ROBOT.

Country Status (3)

Country Link
ES (1) ES2032703B1 (en)
FR (1) FR2658624B1 (en)
IT (1) IT1245517B (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006013593A1 (en) * 2004-08-06 2006-02-09 Valente Pali Precompressi Srl Automated fruit and vegetables picker
CN108633471B (en) * 2018-06-20 2020-08-14 桐乡市常新农机专业合作社 Frame is picked with peach to agricultural

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4047191A (en) * 1975-12-22 1977-09-06 Polaroid Corporation Exposure control system having dynamic aperture flash arrangement
US4635123A (en) * 1982-02-26 1987-01-06 Canon Kabushiki Kaisha Image pick-up device for use with an illuminating device
JPS5978324A (en) * 1982-10-27 1984-05-07 Olympus Optical Co Ltd Stroboscopic light emission controller of electronic camera using solid-state image pickup element
US4532757A (en) * 1983-09-30 1985-08-06 Martin Marietta Corporation Robotic fruit harvester
US4608605A (en) * 1983-12-06 1986-08-26 Canon Kabushiki Kaisha Image sensing apparatus
AU556157B2 (en) * 1983-12-08 1986-10-23 Kubota Ltd. Colour signal separating apparatus

Also Published As

Publication number Publication date
ITTO910125A0 (en) 1991-02-22
FR2658624A1 (en) 1991-08-23
ITTO910125A1 (en) 1992-08-22
IT1245517B (en) 1994-09-29
FR2658624B1 (en) 1993-06-18
ES2032703A1 (en) 1993-02-16

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Legal Events

Date Code Title Description
FD1A Patent lapsed

Effective date: 20040916