DETERMINING THE 3-D LOCATION OF THE APPLE FRUIT DURING HARVEST
DETERMINING THE 3-D LOCATION OF THE APPLE FRUIT DURING HARVEST
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DOI：
10.13031/2013.17822
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发表时间：
2004
期刊：
影响因子：
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通讯作者：
D. Bulanon;T. Kataoka;H. Okamoto;S. Hata
中科院分区：
文献类型：
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作者：
D. Bulanon;T. Kataoka;H. Okamoto;S. Hata
本研究的目的是开发一种苹果采摘机器人。工程上的挑战之一是实时确定水果的三维位置。本文讨论了一种用于富士苹果三维定位的传感器的研制。在确定水果的三维位置时，考虑了两种方法：机器视觉系统和激光测距系统。这两个系统都将安装在末端执行器上。机器视觉系统由彩色CCD摄像机和用于图像处理的PC机组成。末端执行器到水果的距离可以仅用机器视觉、差分目标尺寸法和双目立体图像法来确定。然而，考虑了激光测距系统，因为仅使用机器视觉的距离测量在计算上昂贵且耗时。在激光测距系统中，该系统需要借助机器视觉系统来定位水果的二维位置。然后，激光测距系统确定从末端执行器到水果的距离。从该测量系统获得的结果将被用作输入，以指导机械手的运动。
The objective of this research is to develop an apple harvesting robot. One of the engineering challenges is the real-time determination of the 3-D location of the fruit. In this paper, the development of a sensor to determine the 3-D location of Fuji apples is discussed. Two methods were considered in determining the 3-D location of the fruit: machine vision system and laser ranging system. Both of these systems would be mounted on the end effector. The machine vision system consisted of the color CCD video camera and the PC for the image processing. The distance from end effector to fruit can be determined using machine vision only, the differential object size method and the binocular stereo image method. However, the laser ranging system was considered because distance measurement using machine vision only is computationally expensive and time consuming. In the laser ranging system, this system needs the aid of the machine vision system to locate the two-dimensional location of the fruit. Then the laser ranging system determines the distance from the end effector to the fruit. The result obtained from this measurement system will be used as input to guide the motion of the manipulator.