ES2036909B1 - ARTIFICIAL VISION SYSTEM FOR ROBOTIZED FRUIT COLLECTION. - Google Patents
ARTIFICIAL VISION SYSTEM FOR ROBOTIZED FRUIT COLLECTION.Info
- Publication number
- ES2036909B1 ES2036909B1 ES9001100A ES9001100A ES2036909B1 ES 2036909 B1 ES2036909 B1 ES 2036909B1 ES 9001100 A ES9001100 A ES 9001100A ES 9001100 A ES9001100 A ES 9001100A ES 2036909 B1 ES2036909 B1 ES 2036909B1
- Authority
- ES
- Spain
- Prior art keywords
- signal
- robotized
- vision system
- artificial vision
- 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 - Lifetime
Links
Landscapes
- Length Measuring Devices By Optical Means (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
SISTEMA DE VISION ARTIFICIAL PARA LA RECOLECCION ROBOTIZADA DE FRUTOS, QUE COMPRENDE UN EQUIPO DE ADQUISICION DE IMAGEN CONSISTENTE EN ELEMENTOS SENSORES PARA CONSEGUIR LA IMAGEN, A TRAVES DE FILTROS, QUE ES TOMADA POR UNA CAMARA DE VIDEO FLANQUEADA POR DOS FLASHES DE ILUMINACION, DE DISPARO SINCRONIZADO CON LA TOMA DE IMAGEN, INSTALANDO SOBRE LA CAMARA UN PARASOL ANTIDESLUMBRANTE, DE MODO QUE DICHA CAMARA ENVIA LA SEÑAL ANALOGICA A UN EQUIPO ANALIZADOR DE IMAGENES QUE COMPRENDE UN HARDWARE Y UN SOFTWARE, RECIBIENDO DICHA SEÑAL UNA TARJETA DIGITALIZADORA INSTALADA EN UN SLOT DE UN ORDENADOR, ALMACENANDOSE LOS DATOS EN LA MEMORIA, DE MODO QUE UNA VEZ PROCESADA LA OPERACION, SE CALCULA EL CENTROIDE DE LA REGION CONSIDERADA COMO FRUTO PARA EFECTUAR UNA TRANSFORMACION DE COORDENADAS DE ESTE A LAS COORDENADAS UTILIZADAS POR EL ROBOT RECOLECTOR, PARA SER ENVIADAS MEDIANTE INTERFACE AL DICHO ROBOT PARA QUE ACTUE.ARTIFICIAL VISION SYSTEM FOR THE ROBOTIZED COLLECTION OF FRUITS, WHICH INCLUDES AN IMAGE ACQUISITION TEAM CONSISTING OF SENSOR ELEMENTS TO GET THE IMAGE, THROUGH FILTERS, WHICH IS TAKEN BY A VIDEO CAMERA FLANKED BY TWO ILLUMINATED FLASHES. SYNCHRONIZED WITH THE IMAGE TAKE, INSTALLING AN ANTI-GLASS PARASOL OVER THE CAMERA, SO THAT SUCH CAMERA SENDS THE ANALOGUE SIGNAL TO A HARDWARE AND SOFTWARE COMPUTER, RECEIVING A SIGNAL SIGNAL IN A TARGET SIGNAL COMPUTER, STORING THE DATA IN THE MEMORY, SO THAT ONCE THE OPERATION IS PROCESSED, THE CENTROID OF THE REGION CONSIDERED AS A FRUIT IS CALCULATED TO PERFORM A TRANSFORMATION OF COORDINATES FROM EAST TO THE COORDINATES USED BY THE COLLECTING ROBOT, TO BE SENT TO THE SAID ROBOT TO ACT.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| ES9001100A ES2036909B1 (en) | 1990-04-18 | 1990-04-18 | ARTIFICIAL VISION SYSTEM FOR ROBOTIZED FRUIT COLLECTION. |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| ES9001100A ES2036909B1 (en) | 1990-04-18 | 1990-04-18 | ARTIFICIAL VISION SYSTEM FOR ROBOTIZED FRUIT COLLECTION. |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| ES2036909A1 ES2036909A1 (en) | 1993-06-01 |
| ES2036909B1 true ES2036909B1 (en) | 1994-01-01 |
Family
ID=8266924
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| ES9001100A Expired - Lifetime ES2036909B1 (en) | 1990-04-18 | 1990-04-18 | ARTIFICIAL VISION SYSTEM FOR ROBOTIZED FRUIT COLLECTION. |
Country Status (1)
| Country | Link |
|---|---|
| ES (1) | ES2036909B1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2522921B2 (en) | 2013-05-17 | 2015-07-30 | Loxin 2002, S.L. | Head and automatic machining procedure with vision |
| CN114698466B (en) * | 2022-05-11 | 2023-04-18 | 桂林航天工业学院 | Car is picked to mangosteen |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4482960A (en) * | 1981-11-20 | 1984-11-13 | Diffracto Ltd. | Robot tractors |
| US4532757A (en) * | 1983-09-30 | 1985-08-06 | Martin Marietta Corporation | Robotic fruit harvester |
| AU556157B2 (en) * | 1983-12-08 | 1986-10-23 | Kubota Ltd. | Colour signal separating apparatus |
| ES8605706A1 (en) * | 1984-12-06 | 1986-04-01 | Ikerlan S Coop | A control system for industrial robots (Machine-translation by Google Translate, not legally binding) |
| US4843561A (en) * | 1985-05-01 | 1989-06-27 | Sun Controls Design, Inc. | Apparatus for locating and manipulating agricultural products |
| US4873644A (en) * | 1987-09-16 | 1989-10-10 | Kubota, Ltd. | Guide system for a working machine having a product identifying system |
| ES2006345A6 (en) * | 1988-03-02 | 1989-04-16 | Cognivision Research S A | Sensor device for acquisition, treatment and analysis of images, in inspection and recognition tasks. (Machine-translation by Google Translate, not legally binding) |
| ES2007960A6 (en) * | 1988-07-12 | 1989-07-01 | Ona Electro Erosion | Two dimensional generating system for the geometry of a model using artificial vision |
-
1990
- 1990-04-18 ES ES9001100A patent/ES2036909B1/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| ES2036909A1 (en) | 1993-06-01 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| FA2A | Application withdrawn |
Effective date: 19940715 |