Apparatus and method for the mechanical thinning out of flowers

摘要

The apparatus (1) for the mechanical thinning out of flowers, in particular of fruit trees, comprising a mechanical actuator (6), characterized in that the device (1) at least one optical detector, a positioning device (3) and an evaluation unit (4), by means of, or of the optical detectors at least two receptacles (b1, b2) for generating a stereo-image from the stereo images are recorded, and a 3d - model is calculated, wherein in the 3d - model areas are masked, which lie outside a predetermined spacing range and / or to the horizon and / or to the bottom area and in a gray value image and / or in a color image segmentation an image by means of at least one feature extraction process is carried out, wherein the masked 3d - model and the segmented image to be fused, the evaluation unit (4) of the fused image a flowers density is determined, wherein the mechanical actuator (6) as a function of the determined flowers density is controlled.