CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
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
Conference NameThe 10th International Conference on Advanced Computational Intelligence 2018
Conference Date2018-03-29
Conference Place厦门
Abstract
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.
KeywordRobot Harvesting Peach Manipulator Detection Measurement Segmentation
Subject Area智能机器人
Indexed ByEI
Language英语
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/21057
Collection复杂系统管理与控制国家重点实验室_先进机器人
Affiliation1.中科院自动化研究所
2.中国科学院大学
Recommended Citation
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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