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蘋果采摘機(jī)器人三維視覺傳感器設(shè)計(jì)
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國(guó)家“863”高技術(shù)研究發(fā)展計(jì)劃資助項(xiàng)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(duì)象,，設(shè)計(jì)了用于蘋果采摘機(jī)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(zhǎng)的激光作為主動(dòng)光源,，在步進(jìn)電動(dòng)機(jī)的驅(qū)動(dòng)下進(jìn)行掃描，利用果樹對(duì)激光的反射差異實(shí)現(xiàn)果實(shí)識(shí)別,，利用三角測(cè)量原理實(shí)現(xiàn)果實(shí)定位,。該傳感器以ARM7芯片LPC2114為處理器,，PSD為信號(hào)接收傳感器,，在電路和機(jī)械方面進(jìn)行了優(yōu)化設(shè)計(jì),，有效消除了外界各種干擾。實(shí)驗(yàn)結(jié)果表明,系統(tǒng)信號(hào)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(jī)器人三維視覺傳感器設(shè)計(jì)[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),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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