Design and Implementation of an Automatic Peach-Harvesting Robot System | |
Yu YJ(余永佳)1,2![]() ![]() ![]() ![]() | |
2018-03 | |
会议日期 | 2018-03-29 |
会议地点 | 厦门 |
关键词 | Robot Harvesting Peach Manipulator Detection Measurement Segmentation |
英文摘要 |
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. |
学科主题 | 智能机器人 |
语种 | 英语 |
内容类型 | 会议论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/21057] ![]() |
专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
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]. 见:. 厦门. 2018-03-29. |
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