| abstract |
The invention relates to a computer vision system for picking small row-cultivated fruits. The invention includes a vision system for precisely guiding a robotic device (6) used to grip, cut and deposit the fruit in the desired location. The system accurately designates the exact 3-D point to which the terminal mechanism (7) is to be directed in order to sieze the peduncle of a ripe fruit and to cut said peduncle from above at the predetermined distance, differentiating same from the peduncles of other adjacent fruits that are not to be cut. The basic vision system comrpises: two colour cameras (1); an array of low-cost spot-type optical laser diodes (2), mounted to an azimuth- and elevation-adjustable platform (3) for orienting the array at the desired angle; and an additional laser diode (4) capable of projecting a flat or fan-shaped optical beam. |