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A "Global-Local" Visual Servo System for Picking Manipulators
Yinggang Shi1,2,3, Wei Zhang1, Zhiwen Li1
1College of Mechanical and Electronic Engineering, Northwest A&F University, Yangling 712100, China.
Sensors (Basel, Switzerland)
|June 18, 2020
Summary
This study introduces a novel "global-local" visual servo picking system for automated crop harvesting. The system achieves high accuracy in fruit maturity judgment and picking success rates, improving robotic manipulator efficiency.
Area of Science:
- Robotics
- Computer Vision
- Agricultural Engineering
Background:
- Automated crop picking faces challenges balancing manipulator speed and operational accuracy.
- Existing hand-eye coordination systems ('eye to hand' and 'eye in hand') have limitations.
- A need exists for integrated systems that enhance both precision and efficiency in robotic harvesting.
Purpose of the Study:
- To develop and evaluate a novel "global-local" visual servo picking system.
- To improve the accuracy and speed of automated crop picking operations.
- To address the limitations of conventional hand-eye coordination systems in robotic manipulators.
Main Methods:
- Construction of a "global-local" visual servo picking system prototype.
- Utilized binocular vision for a global field of view and monocular vision for servo control.
- Experimental validation using tomato picking, assessing fruit maturity judgment, distance measurement, and continuous picking success rate.
Main Results:
- Achieved an average accuracy of 92.8% in judging fruit maturity.
- Demonstrated an average fruit distance measurement error of 0.485 cm.
- Attained an average continuous fruit picking time of 20.06 seconds and a success rate of 92.45%.
Conclusions:
- The "global-local" visual servo picking system effectively integrates global and local visual information for enhanced robotic picking.
- The system demonstrates significant improvements in accuracy, speed, and success rate for automated harvesting tasks.
- This approach offers a promising solution for overcoming the trade-offs between speed and accuracy in robotic manipulators.
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