Design and Implementation of an Automatic Peach-Harvesting Robot System
Yu YJ(余永佳)1,2; Zhao Xiaoguang1,2; Bian Jiang1,2; Hui Xiaolong1,2
2018-03
会议名称The 10th International Conference on Advanced Computational Intelligence 2018
会议日期2018-03-29
会议地点厦门
摘要
In this paper, we present a novel autonomous peach-harvesting approach. The robot can autonomously move around the tree and detect the peaches accurately by a well designed fully connected neural network, adapting to different illumination. Next, the robot generates a score for each peach, taking into account the confidence of the classification and the size of the bounding box, and then pick one of the most suitable peach. In order to track the peach more robustly and quickly, we choose the KCF tracking algorithm. Finally, the robot picks the
peach through a 6-DOF manipulator. In addition, we propose a monocular high-precision ranging method based on structured light. The cost of our method is lower than the traditional
ranging method, which enables the robot to obtain the accurate spatial position of the peach.
关键词Robot Harvesting Peach Manipulator Detection Measurement Segmentation
学科领域智能机器人
收录类别EI
语种英语
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/21057
专题复杂系统管理与控制国家重点实验室_先进机器人
作者单位1.中科院自动化研究所
2.中国科学院大学
推荐引用方式
GB/T 7714
Yu YJ,Zhao Xiaoguang,Bian Jiang,et al. Design and Implementation of an Automatic Peach-Harvesting Robot System[C],2018.
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