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ES2036909A1 - Artificial vision system for the robotic collection of fruits - Google Patents

Artificial vision system for the robotic collection of fruits

Info

Publication number
ES2036909A1
ES2036909A1 ES909001100A ES9001100A ES2036909A1 ES 2036909 A1 ES2036909 A1 ES 2036909A1 ES 909001100 A ES909001100 A ES 909001100A ES 9001100 A ES9001100 A ES 9001100A ES 2036909 A1 ES2036909 A1 ES 2036909A1
Authority
ES
Spain
Prior art keywords
image
fruits
vision system
camera
artificial vision
Prior art date
Legal status (The legal status 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 status listed.)
Granted
Application number
ES909001100A
Other languages
Spanish (es)
Other versions
ES2036909B1 (en
Inventor
Perez Florentino Juste
Barron Fernando Albajar
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ind Albajar S A
Original Assignee
Ind Albajar S A
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 Ind Albajar S A filed Critical Ind Albajar S A
Priority to ES9001100A priority Critical patent/ES2036909B1/en
Publication of ES2036909A1 publication Critical patent/ES2036909A1/en
Application granted granted Critical
Publication of ES2036909B1 publication Critical patent/ES2036909B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Landscapes

  • Length Measuring Devices By Optical Means (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)

Abstract

Artificial vision system for the robotised collection of fruits that consists of an image acquisition system composed of sensor elements for obtaining the image, through filters, which is taken by a video camera flanked by two light flashes, which trigger in synchronisation with the capture of the image an anti-brightness umbrella is installed on top of the camera, so that said camera sends the analogue signal to an image analysing equipment that includes hardware and software said signal is received by a digitalising card installed in a computer slot the data is stored in the memory, so that once the operation has been processed, the centroid of the areas considered as fruit is calculated in order to transform its coordinates into the coordinates used by the collector robot, to be sent using the interface to said robot so that it can perform the action.
ES9001100A 1990-04-18 1990-04-18 ARTIFICIAL VISION SYSTEM FOR ROBOTIZED FRUIT COLLECTION. Expired - Lifetime ES2036909B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
ES9001100A ES2036909B1 (en) 1990-04-18 1990-04-18 ARTIFICIAL VISION SYSTEM FOR ROBOTIZED FRUIT COLLECTION.

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
ES9001100A ES2036909B1 (en) 1990-04-18 1990-04-18 ARTIFICIAL VISION SYSTEM FOR ROBOTIZED FRUIT COLLECTION.

Publications (2)

Publication Number Publication Date
ES2036909A1 true ES2036909A1 (en) 1993-06-01
ES2036909B1 ES2036909B1 (en) 1994-01-01

Family

ID=8266924

Family Applications (1)

Application Number Title Priority Date Filing Date
ES9001100A Expired - Lifetime ES2036909B1 (en) 1990-04-18 1990-04-18 ARTIFICIAL VISION SYSTEM FOR ROBOTIZED FRUIT COLLECTION.

Country Status (1)

Country Link
ES (1) ES2036909B1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014184414A1 (en) 2013-05-17 2014-11-20 Loxin 2002, S.L. Head and automated mechanized method with vision
CN114698466A (en) * 2022-05-11 2022-07-05 桂林航天工业学院 Car is picked to mangosteen

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4482960A (en) * 1981-11-20 1984-11-13 Diffracto Ltd. Robot tractors
GB2151353A (en) * 1983-12-08 1985-07-17 Kubota Ltd Colour signal separating apparatus
US4532757A (en) * 1983-09-30 1985-08-06 Martin Marietta Corporation Robotic fruit harvester
ES8605706A1 (en) * 1984-12-06 1986-04-01 Ikerlan S Coop A control system for industrial robots (Machine-translation by Google Translate, not legally binding)
ES2006345A6 (en) * 1988-03-02 1989-04-16 Cognivision Research S A Sensor device for acquisition, treatment and analysis of images, in inspection and recognition tasks. (Machine-translation by Google Translate, not legally binding)
US4843561A (en) * 1985-05-01 1989-06-27 Sun Controls Design, Inc. Apparatus for locating and manipulating agricultural products
ES2007960A6 (en) * 1988-07-12 1989-07-01 Ona Electro Erosion Two dimensional generating system for the geometry of a model using artificial vision
US4873644A (en) * 1987-09-16 1989-10-10 Kubota, Ltd. Guide system for a working machine having a product identifying system

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4482960A (en) * 1981-11-20 1984-11-13 Diffracto Ltd. Robot tractors
US4532757A (en) * 1983-09-30 1985-08-06 Martin Marietta Corporation Robotic fruit harvester
GB2151353A (en) * 1983-12-08 1985-07-17 Kubota Ltd Colour signal separating apparatus
ES8605706A1 (en) * 1984-12-06 1986-04-01 Ikerlan S Coop A control system for industrial robots (Machine-translation by Google Translate, not legally binding)
US4843561A (en) * 1985-05-01 1989-06-27 Sun Controls Design, Inc. Apparatus for locating and manipulating agricultural products
US4873644A (en) * 1987-09-16 1989-10-10 Kubota, Ltd. Guide system for a working machine having a product identifying system
ES2006345A6 (en) * 1988-03-02 1989-04-16 Cognivision Research S A Sensor device for acquisition, treatment and analysis of images, in inspection and recognition tasks. (Machine-translation by Google Translate, not legally binding)
ES2007960A6 (en) * 1988-07-12 1989-07-01 Ona Electro Erosion Two dimensional generating system for the geometry of a model using artificial vision

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014184414A1 (en) 2013-05-17 2014-11-20 Loxin 2002, S.L. Head and automated mechanized method with vision
US9919428B2 (en) 2013-05-17 2018-03-20 Loxin 2002, S.L. Head and automated mechanized method with vision
CN114698466A (en) * 2022-05-11 2022-07-05 桂林航天工业学院 Car is picked to mangosteen

Also Published As

Publication number Publication date
ES2036909B1 (en) 1994-01-01

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Legal Events

Date Code Title Description
FA2A Application withdrawn

Effective date: 19940715