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PE20161167A1 - PORTABLE EQUIPMENT FOR SELECTIVE HARVESTING WITH IDENTIFICATION OF FRUITS BY COLOR - Google Patents

PORTABLE EQUIPMENT FOR SELECTIVE HARVESTING WITH IDENTIFICATION OF FRUITS BY COLOR

Info

Publication number
PE20161167A1
PE20161167A1 PE2016001483A PE2016001483A PE20161167A1 PE 20161167 A1 PE20161167 A1 PE 20161167A1 PE 2016001483 A PE2016001483 A PE 2016001483A PE 2016001483 A PE2016001483 A PE 2016001483A PE 20161167 A1 PE20161167 A1 PE 20161167A1
Authority
PE
Peru
Prior art keywords
fruits
immature
images
fruit
color
Prior art date
Application number
PE2016001483A
Other languages
Spanish (es)
Inventor
Aguirre Alvaro Guerrero
Navarro Mauricio Garcia
Giraldo Paula Jimena Ramos
Uribe Juan Rodrigo Sanz
Tascon Carlos Eugenio Oliveros
Original Assignee
Federacion Nac De Cafeteros De Colombia
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 Federacion Nac De Cafeteros De Colombia filed Critical Federacion Nac De Cafeteros De Colombia
Publication of PE20161167A1 publication Critical patent/PE20161167A1/en

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
    • A01D46/06—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs of coffee
    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/90—Determination of colour characteristics
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10024—Color image
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20092—Interactive image processing based on input by user
    • G06T2207/20104—Interactive definition of region of interest [ROI]
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30108—Industrial image inspection
    • G06T2207/30128—Food products
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects
    • G06V20/68—Food, e.g. fruit or vegetables

Landscapes

  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Environmental Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Robotics (AREA)
  • Quality & Reliability (AREA)
  • Harvesting Machines For Specific Crops (AREA)
  • Spectrometry And Color Measurement (AREA)
  • Image Analysis (AREA)
  • Image Input (AREA)

Abstract

La presente invencion corresponde a un equipo portatil para la cosecha selectiva y un metodo para identificacion de frutos y cosecha selectiva de frutos de cafe u otros frutos, el equipo portatil para la cosecha selectiva de frutos en una rama que comprende: un sistema de adquisicion de imagenes (1), un sistema de procesamiento de imagenes, un mecanismo de desprendimiento (2), un sistema de control, un mecanismo de recepcion, y, un sistema de alimentacion de energia al equipo, el equipo tambien posee un sistema de servo-vision. El metodo para la identificacion de frutos por color y cosecha selectiva que comprende las etapas de (a) adquirir imagenes de los frutos en la rama; (b) almacenarlas imagenes en una memoria; (e) preprocesar las imagenes con un filtrado para reduccion de ruido y mejora de la imagenes; (d) convertir en las imagenes el color de RGB a espacio de color LUX mod; (e) umbralizar las variables U, y VLUX-modificado del espacio de color LUX mod obteniendo una imagen binaria y detectar los pixeles de frutos maduros e inmaduros; (f) contar los pixeles de frutos maduros e inmaduros; (g) detectar las zonas de interes, conforme a la posicion sobre la rama que contiene los frutos indicada por la imagen; (h) determinar un valor de umbral de riesgo de desprender un fruto inmaduro "N" como un porcentaje de la totalidad de la seccion de la zona de interes. (i) determinar el riesgo de desprender un fruto inmaduro comparando el porcentaje de pixeles de frutos inmaduros de la seccion de la zona de interes con el valor de umbral de riesgo de desprender un fruto inmaduro "N" (j) genera una orden de activacion y desprender el fruto dependiendo de reglas para la activacion para desprender fruto.The present invention corresponds to a portable equipment for selective harvesting and a method for identifying fruits and selective harvesting of coffee fruits or other fruits, the portable equipment for selective harvesting of fruits in a branch comprising: a system of acquisition of images (1), an image processing system, a detachment mechanism (2), a control system, a receiving mechanism, and a power supply system to the equipment, the equipment also has a servo system. view. The method for the identification of fruits by color and selective harvest that comprises the stages of (a) acquiring images of the fruits on the branch; (b) store the images in a memory; (e) preprocessing the images with a filtering for noise reduction and image enhancement; (d) convert the images from RGB color to LUX mod color space; (e) thresholding the variables U, and VLUX-modified from the LUX mod color space obtaining a binary image and detecting the pixels of ripe and immature fruits; (f) count the pixels of ripe and immature fruits; (g) detect the areas of interest, according to the position on the branch containing the fruits indicated by the image; (h) determine a threshold value of risk of detaching an immature fruit "N" as a percentage of the entire section of the area of interest. (i) determine the risk of detaching an immature fruit by comparing the percentage of pixels of immature fruits of the section of the area of interest with the threshold value of risk of detaching an immature fruit "N" (j) generates an activation order and detach the fruit depending on rules for the activation to detach fruit.

PE2016001483A 2014-02-12 2015-02-11 PORTABLE EQUIPMENT FOR SELECTIVE HARVESTING WITH IDENTIFICATION OF FRUITS BY COLOR PE20161167A1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CO14029767 2014-02-12

Publications (1)

Publication Number Publication Date
PE20161167A1 true PE20161167A1 (en) 2016-11-27

Family

ID=53799646

Family Applications (1)

Application Number Title Priority Date Filing Date
PE2016001483A PE20161167A1 (en) 2014-02-12 2015-02-11 PORTABLE EQUIPMENT FOR SELECTIVE HARVESTING WITH IDENTIFICATION OF FRUITS BY COLOR

Country Status (5)

Country Link
CR (1) CR20160370A (en)
GT (1) GT201600166A (en)
MX (1) MX376483B (en)
PE (1) PE20161167A1 (en)
WO (1) WO2015121809A1 (en)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9462749B1 (en) 2015-04-24 2016-10-11 Harvest Moon Automation Inc. Selectively harvesting fruits
US9468152B1 (en) 2015-06-09 2016-10-18 Harvest Moon Automation Inc. Plant pruning and husbandry
US9928584B2 (en) 2016-07-11 2018-03-27 Harvest Moon Automation Inc. Inspecting plants for contamination
US9965845B2 (en) 2016-07-11 2018-05-08 Harvest Moon Automation Inc. Methods and systems for inspecting plants for contamination
US11343967B1 (en) 2018-11-14 2022-05-31 Cv Robotics Booster Club Robotic automation of mechanical field harvesting of broccoli plants
US11147228B2 (en) 2019-02-15 2021-10-19 Syngenta Crop Protection Ag Soybean cultivar EC1661470
CN109743961A (en) * 2019-03-07 2019-05-14 南京林业大学 A pneumatic-assisted berry precise harvesting device and method
CN111401442A (en) * 2020-03-16 2020-07-10 中科立业(北京)科技有限公司 Fruit identification method based on deep learning
CN114766197B (en) * 2022-04-14 2024-03-12 重庆市农业科学院 Cabbage picking method

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3389543A (en) * 1965-08-31 1968-06-25 Joseph C. Clark Fruit picking apparatus
US4538405A (en) * 1981-12-11 1985-09-03 Alexandrino Victor M Portable coffee harvesting machine
JPH0981749A (en) * 1995-09-18 1997-03-28 Iseki & Co Ltd Fruit recognition device
US5916115A (en) * 1997-09-17 1999-06-29 Pavone; Osvaldo Olive picker
CO5400120A1 (en) * 2002-10-09 2004-05-31 Fed Nac De Cafeteros De Colombia COFFEE FRUIT MECHANICAL DEGRANATOR
JP3757279B2 (en) * 2002-12-02 2006-03-22 独立行政法人農業・生物系特定産業技術研究機構 Method and apparatus for selective harvesting of fruit vegetables
JP6015904B2 (en) * 2012-05-21 2016-10-26 国立大学法人東京農工大学 Harvesting equipment and harvesting method

Also Published As

Publication number Publication date
MX376483B (en) 2025-03-07
CR20160370A (en) 2016-12-06
WO2015121809A1 (en) 2015-08-20
GT201600166A (en) 2018-12-18
MX2016010568A (en) 2017-05-09

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