Visual positioning technology of picking robots for dynamic litchi clusters with disturbance

Xiong, Juntao; He, Zhiliang; Lin, Rui; Liu, Zhen; Bu, Rongbin; Yang, Zhengang; Peng, Hongxing; Zou, Xiangjun

doi:10.1016/j.compag.2018.06.007

Cited by 69 publications

(53 citation statements)

References 17 publications

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“…Jun tao et al conducted a visual positioning study on dynamic litchi clusters with disturbances in the natural environment; they used improved fuzzy c-means clustering method to segment the image, which enabled them to obtain litchi fruits and stems and realize the robotic arm automatic picking of litchi [3]. Williams et al detected and located kiwifruits by combining machine vision and convolutional neural network techniques; they achieved the autonomous harvest of kiwifruits by combining multiple robotic arms, thereby greatly saving manpower [4]. Wu et al used visual robotic arm technology to classify surgical instruments and address the low efficiency of manual classification, thereby greatly improving work efficiency [5].…”

Section: Introductionmentioning

confidence: 99%

Autonomous Operation Method of Multi-DOF Robotic Arm Based on Binocular Vision

Fan

Lin

et al. 2019

Applied Sciences

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Robotic arms with autonomous operation capabilities are currently widely used in real life, such as fruit picking, cargo handling, and workpiece assembly. However, the common autonomous operation methods of the robotic arm have some disadvantages, such as poor universality, low robustness, and difficult implementation. An autonomous operation method of multi-DOF (Multiple Degree of Freedom) robotic arm is proposed in this study on the basis of binocular vision. First, a target object extraction method based on extracting target feature points is proposed, and combined with the binocular positioning principle to obtain the spatial position of the target object. Second, in order to improve the working efficiency of the robotic arm, the robotic arm motion trajectory is planned on the basis of genetic algorithm in the joint space. Finally, a small physical prototype model is built for experimental verification. The experimental results show that the relative positioning error of the target object can reach 1.19% in the depth of field of 70–200 mm. The average grab error, variance, and grab success rate of the robot arm are 14 mm, 6.5 mm, and 83%, respectively. This shows that the method proposed in this paper has the advantages of high robustness, good versatility and easy implementation.

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Section: Introductionmentioning

confidence: 99%

Autonomous Operation Method of Multi-DOF Robotic Arm Based on Binocular Vision

Fan

Lin

et al. 2019

Applied Sciences

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“…This variety, called Thieu (see Figure 1), yields the smallest fruit of all current lychee varieties. Thieu lychee fruits are usually circular, oval, or heart-shaped, surrounded by a thin, tough, rough, but soft crust, so they are easy to peel if they are still fresh [29]. Three hundred significant Thieu lychee fruits were randomly selected from 10 kg (approximately 500 fruits) for experimental measuring of dimensions and weight.…”

Section: Lychee Fruits and Their Physical Characteristicsmentioning

confidence: 99%

“…In our study, the dimensions of the fruits were measured using a vernier caliper with a resolution of 0.02 mm, whereas their weight was measured using Mettler Toledo MS1602S (Mettler Toledo, LLC, Columbus, OH, USA) electronic scale, which exhibits a resolution of 0.02 g and a maximum capacity of 1620 g (see Figure 2). surrounded by a thin, tough, rough, but soft crust, so they are easy to peel if they are still fresh [29]. Three hundred significant Thieu lychee fruits were randomly selected from 10 kg (approximately 500 fruits) for experimental measuring of dimensions and weight.…”

Section: Lychee Fruits and Their Physical Characteristicsmentioning

confidence: 99%

Development and Identification of Working Parameters for a Lychee Peeling Machine Combining Rollers and a Pressing Belt

Nguyen

Pham

et al. 2019

AgriEngineering

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This work describes the development, design, and parameter identification of a lychee peeling machine. The working principle of the machine combines two rollers with a pressing belt to separate the peel from the fruits. It was designed and its operational parameters identified on the basis of experimental data on the Thieu lychee, which currently covers about 80% of the plantation area in Vietnam. To this end, the first step was to measure the physical characteristics of the fruits, such as size, shape, and density. Moreover, the coefficient of static friction between lychees and rubber rollers, and the critical peeling force, were identified, with a view to optimizing the operational parameters later on. Results showed that a minimum tangential force of 10.5 N is needed to break the peel and separate it from the pulp. Based on the balanced force principle, various optimal machine parameters such as roller rotation speed, roller diameter, roller length, gap size between the two rollers, belt velocity, and minimum pressure of the belt were calibrated. In addition, spiral grooves were created on the roller surface to facilitate the motion of the fruits. The optimal results were roller size 900 × 100 mm (length × diameter), rotation speed 159 RPM, gap size between rollers 4 mm, belt size 850 × 60 mm (length × width), belt pressure 13.5 N, and belt velocity 140 mm/s. Using the design and operational parameters mentioned above, the machine was able to perform regularly at a throughput of 100 kg/h, as demanded by the current market. Moreover, it would be easily feasible to combine multiple pairs of rollers and pressing belts in order to increase throughput. The methodology for the design of this peeling machine and identification of working parameters with respect to experimental data could be applied in many other post-harvesting configurations.

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“…At present the most research is based on the characteristics of point and line feature. The problem of monocular vision positioning based on point features [5,6,10,11,15,40,43,48,53,55] is also known as Perspective-NPoints (PNP) problem, through the development and research for many years, it has made quite a number of research results, it has been successfully applied in particular cases.…”

Section: Research Status Of Monocular Vision Positioning Technology Bmentioning

confidence: 99%

Design and research of automobile anti-collision warning system based on monocular vision sensor with license plate cooperative target

Qin

Wang

2016

Multimed Tools Appl

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At present, detection method for the target vehicle based on monocular vision sensor uses the whole vehicle as targets. The automobile anti-collision technology proposed in this paper adopts monocular vision sensor for automobile measurement based on vehicle license plate cooperative target. Monocular vision sensor has advantages of good real-time performance and low cost. The technique can improve the detection capability of vehicle collision avoidance warning systems. In addition to the target vehicle positioning, it can also realize attitude determination. This technology eliminates the limits of road surface roughness and fluctuation. This paper designs the realization scheme of collision warning system based on monocular vision sensor from the automobile license plate cooperative target. Technology roadmap of automobile collision warning system is given. In this paper, license plate frame location is as the research background. The paper presents an analytic solution of positioning method for the license plate frame image. The method uses four vertex characteristics of license plate frame image to locate. Positioning speed of the method is fast. And it has a unique solution. This method can be used to positioning for the license plate frame. Simulation experiment is done for the collision warning location. The simulation results show that this method can locate the position for license plate frame image. License plate is regular shape, uniform, with identity recognition function markers on the automobile body. In the previous research on automotive collision warning and intelligent vehicle, we have not seen the research methods similar to the method introduced in this paper. The research enriches automobile anticollision technology and theory of intelligent vehicle technology. It can also provide an auxiliary method for navigation and obstacle avoidance research for unmanned vehicle. It has certain scientific significance. Vehicle collision warning system can help the driver judgment, prompting warning, improving driving safety, and has broad application prospects.

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Visual positioning technology of picking robots for dynamic litchi clusters with disturbance

Cited by 69 publications

References 17 publications

Autonomous Operation Method of Multi-DOF Robotic Arm Based on Binocular Vision

Autonomous Operation Method of Multi-DOF Robotic Arm Based on Binocular Vision

Development and Identification of Working Parameters for a Lychee Peeling Machine Combining Rollers and a Pressing Belt

Design and research of automobile anti-collision warning system based on monocular vision sensor with license plate cooperative target

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