| 基于超声测距的柑橘收获机器人应急避障系统 |
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| 引用本文： | 陆化珠,蔡健荣,孙力,孙海波.基于超声测距的柑橘收获机器人应急避障系统[J].农机化研究,2011,33(12). |
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| 作者姓名： | 陆化珠 蔡健荣 孙力 孙海波 |
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| 作者单位： | 江苏大学食品与生物工程学院.江苏镇江212013 |
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| 基金项目： | 国家自然科学基金项目(30771243); 国家863高技术研究发展计划项目(2006AA10Z263) |
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| 摘 要： | 针对柑橘采摘机器人视觉系统的特点及现实中可能遇到的问题,使用高精度的多路超声测距系统为采摘机器人提供应急避障。首先,校正了超声测距传感器的精度,并设计多路超声系统,针对不同类型的障碍物进行了试验。试验证明,超声测距系统可有效避免机器人与障碍物的碰撞。
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| 关 键 词： | 柑橘收获机器人 避障 超声测距 机器视觉 |
Emergent Obstacle Avoidance Based on Ultrasonic Ranging System for Citrus-picking Robot |
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| Lu Huazhu,Cai Jianrong,Sun Li,Sun Haibo.Emergent Obstacle Avoidance Based on Ultrasonic Ranging System for Citrus-picking Robot[J].Journal of Agricultural Mechanization Research,2011,33(12). |
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| Authors: | Lu Huazhu Cai Jianrong Sun Li Sun Haibo |
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| Institution: | Lu Huazhu,Cai Jianrong,Sun Li,Sun Haibo(School of Food and Biological Engineering,Jiangsu University,Zhenjiang 212013,China) |
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| Abstract: | Based on the characteristics of the vision system of citrus-picking robot and problems may be encountered in unstructured scene,a high-precise and multichannel ultrasonic ranging system was proposed to provide emergent avoidance for the robot.Experiments showed that ultrasonic ranging system could effectively protect the robot from colliding with obstacles. |
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| Keywords: | citrus-picking robot avoidance ultrasonic ranging system machine vision |
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