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US 2023/0389474 A1Published application
Method for determining a fruit to be harvested and a device for harvesting a fruit
AssigneeAgricultural Corporation Iocrops Inc.
InventorJin Hyung CHO
Life of this patent
Estimating the term…
Abstract
An annotation method for acquiring a training data set for training a ripeness determination model for target fruits is provided. The annotation method includes the steps of: acquiring at least one image; extracting a characteristic area for the target fruits included in the at least one image; calculating a first parameter for a first color and a second parameter for a second color on the basis of a pixel value included in the characteristic area; and acquiring labeling data for the characteristic area on the basis of at least the first parameter and the second parameter.
Claims12
A harvesting robot, comprising:
- a transport module configured to move along a rail located between crops in a greenhouse;
- an image capture module configured to capture a plurality of images reflecting at least a part of the crops;
- a harvesting module configured to harvest fruits located on at least one of the crops;
- a memory configured to store a trained ripeness determination model and at least two of predetermined threshold values, wherein the trained ripeness determination model is trained using training data set, wherein the training data set includes a fruit image and a label data corresponding to the fruit image, and wherein the at least two of predetermined threshold values include a first threshold value corresponding to a first season and a second threshold value corresponding to a second season;
- and
- a processor configured to control the harvesting module,
- wherein the processor is configured to:
- obtain a temperature information indicating an average daily temperature outside the greenhouse,
- determine a season information based on at least the temperature information, wherein the season information is determined as the first season or the second season,
- determine a threshold value based on at least the season information, wherein the threshold value is determined as the first threshold value when the season information is determined as the first season, wherein the threshold value is determined as the second threshold value when the season information is determined as the second season,
- obtain a first fruit image reflecting a first fruit,
- obtain a first ripeness score for the first fruit by applying the first fruit image to the trained ripeness determination model, and
- control the harvesting module so that the harvesting module harvests the first fruit when the first ripeness score is greater than the determined threshold value,
- wherein the first season corresponds to a season with a higher average season temperature than the second season, and
- wherein the first threshold value is less than the second threshold value.
12 more elements
A method for controlling a harvesting robot, comprising:
- obtaining a temperature information indicating an average daily temperature outside a greenhouse;
- determining a season information based on at least the temperature information, wherein the season information is determined as a first season or a second season;
- determining a threshold value based on at least the season information, wherein the threshold value is determined as a first threshold value when the season information is determined as the first season, wherein the threshold value is determined as a second threshold value when the season information is determined as the second season;
- obtaining a first fruit image reflecting a first fruit;
- obtaining a first ripeness score for the first fruit by applying the first fruit image to a trained ripeness determination model;
- and
- controlling the harvesting robot so that the harvesting robot harvests the first fruit when the first ripeness score is greater than the determination threshold value,
- wherein when the first season corresponds to a season with a higher average season temperature than the second season, the first threshold value is less than the second threshold value.
5 more elements
Dependencies are inferred from the claim text.