Fruit picking method based on three-dimensional parameter prediction model for fruit

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United States of America Patent

PATENT NO 11737393
APP PUB NO 20220377980A1
SERIAL NO

17744053

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Abstract

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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.

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Patent Owner(s)

  • GUANGDONG POLYTECHNIC NORMAL UNIVERSITY

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Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Chen, Weizhao Guangzhou, CN 6 0
Fu, Yiqing Guangzhou, CN 10 1
Guo, Qiwei Guangzhou, CN 13 4
Hou, Chaojun Guangzhou, CN 10 3
Huang, Huasheng Guangzhou, CN 20 2
Li, Jiahao Guangzhou, CN 54 298
Luo, Shaoming Guangzhou, CN 14 3
Miao, Aimin Guangzhou, CN 9 1
Tang, Yu Guangzhou, CN 193 818
Yang, Jiepeng Guangzhou, CN 12 1
Zhang, Xiaodi Guangzhou, CN 42 181
Zhao, Jinfei Guangzhou, CN 7 0
Zhuang, Jiajun Guangzhou, CN 10 3
Zhuang, Xincai Guangzhou, CN 9 1

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