Market Assessment for Autonomous Plant Pot Spacing Robot
自主花盆间距机器人的市场评估
基本信息
- 批准号:580686-2023
- 负责人:
- 金额:$ 1.09万
- 依托单位:
- 依托单位国家:加拿大
- 项目类别:Idea to Innovation
- 财政年份:2022
- 资助国家:加拿大
- 起止时间:2022-01-01 至 2023-12-31
- 项目状态:已结题
- 来源:
- 关键词:
项目摘要
A mobile manipulator (i.e., a wheeled mobile robot with a robotic manipulator attached to it) equipped with imaging sensors has initially been designed and developed for automated planted-pot delivery in nursery farms and greenhouses. The University of Regina (UofR) proprietary technology has been proven to conduct automated delivery of the planted pots in different sizes, shapes, and weights. Our system: (1) detects planted pots using conventional image processing techniques, (2) moves towards a pre-grasp configuration at high precision using onboard sensors, i.e., camera vision, LiDAR, and IMUs, (3) grasps the planted pots at the optimal contact points, and (4) lift them up and position them on the rotary table on top of the robot. According to the estimated size of the pot, the rotary table is then rotated incrementally, making room for the next pot to be positioned on it. The robot can carry up to eight pots, with a total weight of 50kg, for 10 kilometers with one single charge of the battery. The robot can move at the humans' speed, namely ~5 km/h, under which condition, the battery will last for 2 hours.The following functions are envisioned to be added to the current system:(1) Automated docking to a charging station.(2) Design of a HMI through which high-level motion commands can be given to the robot by a remote operator, and the robot will execute them at the machine level.(3) Adding an image-based detection, classification, and tracking algorithm that would enable the robot to track humans and/or service vehicles, when needed.(4) Improving on safety measures and algorithms to avoid collision between the robot and the static/dynamic objects in its environment.No similar technology exists in the market that can do all the above.
最初设计和开发了一种装有成像传感器的移动机械手(即带有机器人机械手的轮式移动机器人),用于苗圃农场和温室的自动种植盆栽。雷吉纳大学(UofR)的专利技术已被证明可以自动交付不同大小、形状和重量的种植花盆。我们的系统:(1)使用传统的图像处理技术检测种植的花盆;(2)使用机载传感器,即相机视觉、激光雷达和IMUS,高精度地移动到预先抓取的位置;(3)在最佳接触点抓取种植的花盆;(4)将它们抬起并放置在机器人顶部的转盘上。根据估计的锅的大小,转盘递增地旋转,为下一个锅在其上放置腾出空间。该机器人可以携带多达8个锅,总重量为50公斤,只需一次电池充电即可行驶10公里。机器人可以以人类的速度移动,即~5公里/小时,在这种情况下,电池将持续2小时。预计将在当前系统中增加以下功能:(1)自动对接到充电站。(2)设计一种人机界面,通过该界面,远程操作员可以向机器人发出高级运动命令,机器人将在机器级别执行这些命令。(3)增加基于图像的检测、分类和跟踪算法,使机器人能够跟踪人类和/或服务车辆,改进安全措施和算法,以避免机器人与其环境中的静态/动态物体发生碰撞。目前市场上还没有类似的技术可以做到这一切。
项目成果
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