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蘋果采摘機器人三維視覺傳感器設(shè)計
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國家“863”高技術(shù)研究發(fā)展計劃資助項目(2006AA10Z255)


Development of a 3-dimension Vision Sensor in Apple Harvesting Robot
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    摘要:

    以紅富士蘋果為研究對象，設(shè)計了用于蘋果采摘機器人的三維視覺傳感器。根據(jù)蘋果樹的反射光譜特性，選擇敏感波長的激光作為主動光源，在步進電動機的驅(qū)動下進行掃描，利用果樹對激光的反射差異實現(xiàn)果實識別，利用三角測量原理實現(xiàn)果實定位。該傳感器以ARM7芯片LPC2114為處理器，PSD為信號接收傳感器，在電路和機械方面進行了優(yōu)化設(shè)計，有效消除了外界各種干擾。實驗結(jié)果表明,系統(tǒng)信號輸出穩(wěn)定，在150～750mm距離范圍內(nèi)，最大偏差13mm。

    Abstract:

    A 3-dimension vision sensor for red Fuji apple harvesting robot was presented. Lasers with sensitive wavelength were selected as active lamp-house according to the reflectance characteristic of apple plant, to scan apple plant under the drive of stepping motors. And recognition of apples depended on laser reflectance difference of plant, positioning of apples was accomplished based on triangulation. ARM7 microchip LPC2114 was used as the CPU, PSD was used as the signal receiving sensor. In order to eliminate the noise of environment, optimal design of circuit and mechanism was considered. The result of experiment indicated that the output signal of system was stable ranging from 150mm to 750mm, with the maximum error of 13mm.

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劉兆祥,劉剛,喬軍.蘋果采摘機器人三維視覺傳感器設(shè)計[J].農(nóng)業(yè)機械學報,2010,41(2):171-175. Liu Zhaoxiang, Liu Gang, Qiao Jun. Development of a 3-dimension Vision Sensor in Apple Harvesting Robot[J]. Transactions of the Chinese Society for Agricultural Machinery,2010,41(2):171-175.

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