Research on the strategy of advancing harvest efficiency of fruit harvest robot in the oscillation conditions
Take the fruit harvest robot experimental platform as background to research on the strategy of advancing harvest efficiency. Sample continuous and real-time fruit image by image processing, preprocess to detect the objective fruit, and then create an image coordinate system. Calculate oscillation frequency of the objective fruit with curve fitting of sample value. At the same time, get the depth of the objective fruit with visual and calculate the movement time of the Direct-acing joint to achieve the control of the end effector. The research will reduce the locating time, advance harvest efficiency of the harvest robot when spherical fruits like apple are oscillating.
image processing harvest robot harvest efficiency curve fitting FFT
Huiliang Shen Dean Zhao Wei Ji Yu Chen Jidong Lv
School of Electrical and Information Engineering, Jiangsu University Zhenjiang, China
国际会议
杭州
英文
215-218
2011-08-26（万方平台首次上网日期，不代表论文的发表时间）