Knowledge Commons of Institute of Automation,CAS
Design and Implementation of an Automatic Peach-Harvesting Robot System | |
Yu YJ(余永佳)1,2![]() ![]() ![]() ![]() | |
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 | 复杂系统认知与决策实验室_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 |
第一作者单位 | 中国科学院自动化研究所 |
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. |
条目包含的文件 | 下载所有文件 | |||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
余永佳-202.pdf(1577KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。
修改评论