RAMOS GIRALDO PAULA JIMENA,OLIVEROS TASCÓN CARLOS EUGENIO,GARCÍA NAVARRO MAURICIO,GUERRERO AGUIRRE ÁLVARO,SANZ URIBE JUAN RODRIGO
申请号：
IN201617030963
公开号：
IN201617030963A
申请日:
2016.09.10
申请国别(地区):
IN
年份:
2016
代理人:
摘要：
The invention relates to a portable device for selective harvest and to a method for identifying fruit and selectively harvesting coffee fruit or other fruit. The portable device for selectively harvesting fruit on a branch comprises: an image acquisition system (1) an image processing system a picking mechanism (2) a control system a receiving mechanism and a system for powering the device the device also comprising a servo vision system. The method for identifying fruit by colour and selective harvest comprises the steps of: (a) acquiring images of the fruit on the branch (b) storing the images in a memory (c) preprocessing the images with a filtering operation in order to reduce noise and improve the images (d) converting in the images the RGB colour to a LUX mod colour space (e) thresholding the variables U and modified VLUX of the LUX mod colour space obtaining a binary image and detecting the pixels of ripe and unripe fruit (f) counting the pixels of ripe and unripe fruit (g) detecting the areas of interest according to the position on the branch comprising the fruit which is indicated by the image (h) determining a threshold value relating to the risk of picking unripe fruit N as a percentage of the totality of the section of the area of interest (i) determining the risk of picking unripe fruit by comparing the percentage of pixels of unripe fruit in the section of the area of interest with the threshold value relating to the risk of picking unripe fruit N and (j) generating a command for activation and picking of the fruit according to the rules for the activation for picking fruit.
