苹果采摘机器人三维视觉传感器设计

Development of a 3-dimension Vision Sensor in Apple Harvesting Robot

以红富士苹果为研究对象,设计了用于苹果采摘机器人的三维视觉传感器。根据苹果树的反射光谱特性,选择敏感波长的激光作为主动光源,在步进电动机的驱动下进行扫描,利用果树对激光的反射差异实现果实识别,利用三角测量原理实现果实定位。该传感器以ARM7芯片LPC2114为处理器,PSD为信号接收传感器,在电路和机械方面进行了优化设计,有效消除了外界各种干扰。实验结果表明,系统信号输出稳定,在150～750 mm距离范围内,最大偏差13 mm。

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 150 mm to 750 mm,with the maximum error of 13 mm.