A “Global–Local” Visual Servo System for Picking Manipulators
During the process of automated crop picking, the two hand–eye coordination operation systems, namely “eye to hand” and “eye in hand” have their respective advantages and disadvantages. It is challenging to simultaneously consider both the operational accuracy and the speed of a manipulator. In resp...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2020-06-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/20/12/3366 |
| _version_ | 1827715124110032896 |
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| author | Yinggang Shi Wei Zhang Zhiwen Li Yong Wang Li Liu Yongjie Cui |
| author_facet | Yinggang Shi Wei Zhang Zhiwen Li Yong Wang Li Liu Yongjie Cui |
| author_sort | Yinggang Shi |
| collection | DOAJ |
| description | During the process of automated crop picking, the two hand–eye coordination operation systems, namely “eye to hand” and “eye in hand” have their respective advantages and disadvantages. It is challenging to simultaneously consider both the operational accuracy and the speed of a manipulator. In response to this problem, this study constructs a “global–local” visual servo picking system based on a prototype of a picking robot to provide a global field of vision (through binocular vision) and carry out the picking operation using the monocular visual servo. Using tomato picking as an example, experiments were conducted to obtain the accuracies of judgment and range of fruit maturity, and the scenario of fruit-bearing was simulated over an area where the operation was ongoing to examine the rate of success of the system in terms of continuous fruit picking. The results show that the global–local visual servo picking system had an average accuracy of correctly judging fruit maturity of 92.8%, average error of fruit distance measurement in the range 0.485 cm, average time for continuous fruit picking of 20.06 s, and average success rate of picking of 92.45%. |
| first_indexed | 2024-03-10T19:11:05Z |
| format | Article |
| id | doaj.art-5e5b57e8c6cd43aabab96c9f7371ed73 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T19:11:05Z |
| publishDate | 2020-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-5e5b57e8c6cd43aabab96c9f7371ed732023-11-20T03:45:43ZengMDPI AGSensors1424-82202020-06-012012336610.3390/s20123366A “Global–Local” Visual Servo System for Picking ManipulatorsYinggang Shi0Wei Zhang1Zhiwen Li2Yong Wang3Li Liu4Yongjie Cui5College of Mechanical and Electronic Engineering, Northwest A&F University, Yangling 712100, ChinaCollege of Mechanical and Electronic Engineering, Northwest A&F University, Yangling 712100, ChinaCollege of Mechanical and Electronic Engineering, Northwest A&F University, Yangling 712100, ChinaCollege of Mechanical and Electronic Engineering, Northwest A&F University, Yangling 712100, ChinaCollege of Mechanical and Electronic Engineering, Northwest A&F University, Yangling 712100, ChinaCollege of Mechanical and Electronic Engineering, Northwest A&F University, Yangling 712100, ChinaDuring the process of automated crop picking, the two hand–eye coordination operation systems, namely “eye to hand” and “eye in hand” have their respective advantages and disadvantages. It is challenging to simultaneously consider both the operational accuracy and the speed of a manipulator. In response to this problem, this study constructs a “global–local” visual servo picking system based on a prototype of a picking robot to provide a global field of vision (through binocular vision) and carry out the picking operation using the monocular visual servo. Using tomato picking as an example, experiments were conducted to obtain the accuracies of judgment and range of fruit maturity, and the scenario of fruit-bearing was simulated over an area where the operation was ongoing to examine the rate of success of the system in terms of continuous fruit picking. The results show that the global–local visual servo picking system had an average accuracy of correctly judging fruit maturity of 92.8%, average error of fruit distance measurement in the range 0.485 cm, average time for continuous fruit picking of 20.06 s, and average success rate of picking of 92.45%.https://www.mdpi.com/1424-8220/20/12/3366tomato pickingvisual servomanipulatorhand–eye coordination |
| spellingShingle | Yinggang Shi Wei Zhang Zhiwen Li Yong Wang Li Liu Yongjie Cui A “Global–Local” Visual Servo System for Picking Manipulators Sensors tomato picking visual servo manipulator hand–eye coordination |
| title | A “Global–Local” Visual Servo System for Picking Manipulators |
| title_full | A “Global–Local” Visual Servo System for Picking Manipulators |
| title_fullStr | A “Global–Local” Visual Servo System for Picking Manipulators |
| title_full_unstemmed | A “Global–Local” Visual Servo System for Picking Manipulators |
| title_short | A “Global–Local” Visual Servo System for Picking Manipulators |
| title_sort | global local visual servo system for picking manipulators |
| topic | tomato picking visual servo manipulator hand–eye coordination |
| url | https://www.mdpi.com/1424-8220/20/12/3366 |
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