Method and device for analogous real-time spectral preselection, particularly in a system of artificial vision

Abstract

Abstract Method for analogue real-time spectral preselection, applicable to an artificial vision system equipping a robotic machine, for example intended for harvesting fruits and adapted for detecting fruits on trees, characterised in that use is made of the 3 synchronous video signals (V1, V2, V3) coming from 3 miniature cameras or microcameras (1, 2, 3) equipped with different filters and locked onto the same scene, and in that an analogue preselection module consisting of an appropriate electronic set-up extracts from these three signals a simplified (binary) image in which the fruits appear in black on a white background. This binary image is then analysed by a microprocessor-based processing module which looks for the black spots in the image, checks their geometrical properties (dimensions and contours) and indicates their coordinates (x, y) in the image to a main control computer which, via appropriate actuators, actuates the picking arm of the robotic harvesting machine (or other grasping member or work tool equipping the manipulator of the machine in the case of a robotic machine intended to accomplish other tasks). <IMAGE>

Inventors

• 👤 Gilles Marie Charles Rabatel
• 👤 Armel Davenel

Bibliographic Details