US 11,678,609 B2
Fruit picking method based on visual servo control robot
Yu Tang, Guangzhou (CN); Yiqing Fu, Guangzhou (CN); Jiahao Li, Guangzhou (CN); Jiepeng Yang, Guangzhou (CN); Jinfei Zhao, Guangzhou (CN); Weizhao Chen, Guangzhou (CN); Xiaodi Zhang, Guangzhou (CN); Zhiping Tan, Guangzhou (CN); Qiwei Guo, Guangzhou (CN); Xincai Zhuang, Guangzhou (CN); Huasheng Huang, Guangzhou (CN); Chaojun Hou, Guangzhou (CN); Jiajun Zhuang, Guangzhou (CN); Aimin Miao, Guangzhou (CN); and Shaoming Luo, Guangzhou (CN)
Assigned to GUANGDONG POLYTECHNIC NORMAL UNIVERSITY, Guangzhou (CN)
Filed by Guangdong Polytechnic Normal University, Guangzhou (CN)
Filed on Apr. 14, 2022, as Appl. No. 17/720,841.
Application 17/720,841 is a continuation of application No. 17/710,938, filed on Mar. 31, 2022.
Claims priority of application No. 202111268747.1 (CN), filed on Oct. 29, 2021.
Prior Publication US 2023/0136427 A1, May 4, 2023
Int. Cl. G06T 7/70 (2017.01); B25J 9/16 (2006.01); G06T 7/11 (2017.01); H04N 23/90 (2023.01); H04N 23/695 (2023.01)
CPC B25J 9/1664 (2013.01) [B25J 9/1697 (2013.01); G06T 7/11 (2017.01); G06T 7/70 (2017.01); H04N 23/695 (2023.01); H04N 23/90 (2023.01); G06T 2207/10016 (2013.01); G06T 2207/30188 (2013.01)] 5 Claims
OG exemplary drawing
 
1. A fruit picking method based on a visual servo control robot, comprising:
S1, placing a preset throwing apparatus and a fixed photosensitive device at a first position, and performing photosensitive processing on a to-be-picked fruit tree using the fixed photosensitive device, so as to obtain a fixed photosensitive image;
S2, generating a first throwing path, a second throwing path and a third throwing path based on the fixed photosensitive image according to a preset throwing path generation method, wherein the first throwing path is parallel to the second throwing path, and the first throwing path is not parallel to the third throwing path;
S3, arranging recovery apparatuses at end points of the first throwing path, the second throwing path and the third throwing path, respectively;
S4, performing simultaneous rotational throwing processing using the throwing apparatus, thus rotationally throwing a first wireless photosensitive device, a second wireless photosensitive device and a third wireless photosensitive device to the recovery apparatuses along the first throwing path, the second throwing path and the third throwing path, respectively, wherein the first wireless photosensitive device, the second wireless photosensitive device, and the third wireless photosensitive device are configured to capture multiple images on the first throwing path, the second throwing path, and the third throwing path respectively;
S5, receiving a first photosensitive image sequence and a second photosensitive image sequence which are subjected to real-time photosensitive processing and sent by the first wireless photosensitive device and the second wireless photosensitive device in the rotational throwing process along the first throwing path and the second throwing path, respectively, wherein rotation parameters of the first wireless photosensitive device and the second wireless photosensitive device are the same as photosensitive parameters, thus sensing areas of the first wireless photosensitive device and the second wireless photosensitive device in the rotational throwing process are the same;
S6, receiving a third photosensitive image sequence which is subjected to real-time photosensitive processing and sent by the third wireless photosensitive device in the rotational throwing process along the third throwing path, wherein a sensing area of the third wireless photosensitive device in the rotational throwing process is the same as the sensing area of the first wireless photosensitive device in the rotational throwing process;
S7, generating a spatial position of a fruit on the to-be-picked fruit tree based on the fixed photosensitive image, the first photosensitive image sequence, the second photosensitive image sequence and the third photosensitive image sequence; and
S8, performing fruit picking processing using a preset visual servo control robot according to the spatial position of the fruit.