Disclosed is a fruit picking method based on a visual servo control robot, comprising: placing a throwing apparatus and a fixed photosensitive device at a first position to obtain a fixed photosensitive image; generating a first throwing path, a second throwing path, and a third throwing path; arranging recovery apparatuses; performing simultaneous rotational throwing processing to throw a first wireless photosensitive device, a second wireless photosensitive device, and a third wireless photosensitive device; receiving a first photosensitive image sequence and a second photosensitive image sequence of the first wireless photosensitive device and the second wireless photosensitive device; receiving a third photosensitive image sequence of the third wireless photosensitive device; generating a spatial position of a fruit on a to-be-picked fruit tree; and performing fruit picking processing using the visual servo control robot according to the spatial position of the fruit.

An end effector includes a cutting mechanism, a gripping mechanism, and a pivot component. The cutting mechanism and the gripping mechanism are coupled to the pivot component. The cutting mechanism is coupled to a first portion of the pivot component and the gripping mechanism is coupled to a second portion of the pivot component.

An end effector includes a cutting mechanism, a gripping mechanism, and a pivot component. The cutting mechanism and the gripping mechanism are coupled to the pivot component. The cutting mechanism is coupled to a first portion of the pivot component and the gripping mechanism is coupled to a second portion of the pivot component.

A harvester (1) comprises a gantry (24) and a harvesting tool (22) with a cutter unit (52). The gantry (24) allows the cutter unit (52) to move so that the cutter unit (52) can approach and cut an individual crop from any direction in the horizontal plane. In this way, the direction of approaching and cutting can be selected so as to avoid damaging the surrounding crops.

A harvester (1) comprises a gantry (24) and a harvesting tool (22) with a cutter unit (52). The gantry (24) allows the cutter unit (52) to move so that the cutter unit (52) can approach and cut an individual crop from any direction in the horizontal plane. In this way, the direction of approaching and cutting can be selected so as to avoid damaging the surrounding crops.

The present invention is in the field of soybean variety EC1661152, EC1661470, EC1661291, AND/OR EC1661249 breeding and development. The present invention particularly relates to the soybean variety EC1661152, EC1661470, EC1661291, AND/OR EC1661249 and its seed, cells, germplasm, plant parts, and progeny, and methods of using EC1661152, EC1661470, EC1661291, AND/OR EC1661249 in a breeding program.

The present disclosure provides a cherry picking and classifying method based on machine vision, including: acquiring an image for a cherry with a stem hung on a branch, filtering the image to remove noise, and taking a resulting image as an original image; processing the original image to extract a stem feature of the cherry, and determining a picking point for picking; acquiring an image for a picked cherry to obtain a classification image; processing the classification image to extract a contour feature of the cherry, and calculating a size of the cherry according to the contour feature; and classifying the cherry according to size data of the cherry. The present disclosure further provides a picking and classifying device, including: an acquisition module, a classifying transmission module, a connection module; and a control module.

The present disclosure provides a cherry picking and classifying method based on machine vision, including: acquiring an image for a cherry with a stem hung on a branch, filtering the image to remove noise, and taking a resulting image as an original image; processing the original image to extract a stem feature of the cherry, and determining a picking point for picking; acquiring an image for a picked cherry to obtain a classification image; processing the classification image to extract a contour feature of the cherry, and calculating a size of the cherry according to the contour feature; and classifying the cherry according to size data of the cherry. The present disclosure further provides a picking and classifying device, including: an acquisition module, a classifying transmission module, a connection module; and a control module.

Disclosed is a fruit picking method based on a visual servo control robot, comprising: placing a throwing apparatus and a fixed photosensitive device at a first position to obtain a fixed photosensitive image; generating a first throwing path, a second throwing path, and a third throwing path; arranging recovery apparatuses; performing simultaneous rotational throwing processing to throw a first wireless photosensitive device, a second wireless photosensitive device, and a third wireless photosensitive device; receiving a first photosensitive image sequence and a second photosensitive image sequence of the first wireless photosensitive device and the second wireless photosensitive device; receiving a third photosensitive image sequence of the third wireless photosensitive device; generating a spatial position of a fruit on a to-be-picked fruit tree; and performing fruit picking processing using the visual servo control robot according to the spatial position of the fruit.

Disclosed is a fruit picking method based on a visual servo control robot, comprising: placing a throwing apparatus and a fixed photosensitive device at a first position to obtain a fixed photosensitive image; generating a first throwing path, a second throwing path, and a third throwing path; arranging recovery apparatuses; performing simultaneous rotational throwing processing to throw a first wireless photosensitive device, a second wireless photosensitive device, and a third wireless photosensitive device; receiving a first photosensitive image sequence and a second photosensitive image sequence of the first wireless photosensitive device and the second wireless photosensitive device; receiving a third photosensitive image sequence of the third wireless photosensitive device; generating a spatial position of a fruit on a to-be-picked fruit tree; and performing fruit picking processing using the visual servo control robot according to the spatial position of the fruit.