论文标题
Kiwifruit Flower授粉机器人的传感模块的设计
Design of a sensing module for a kiwifruit flower pollinator robot
论文作者
论文摘要
本文介绍了用于开发机器人奇异果花授粉媒介的传感模块所采取的步骤，该模块可以集成到成像模块和喷雾模块中。该论文描述了不同的指标，以提出可以用作基准测试的传感模块的性能。传感模块为成像模块提供了数据，以在树冠中可靠，准确地检测奇异果花。传感模块的四个主要挑战是对可变照明条件的速度，准确性，可见性和鲁棒性。关于这些问题，从基于不同参数的快速相机和镜头列表中选择了带有LM6HC镜头的Basler ACA1920-40UC摄像机。传感模块在四个果园中进行了测试，并捕获了9128张图像。根据饱和速率参数，捕获的图像在96％的条件下是典型的，其余的由于天气和早期季节而眩光。相机速度和视场确保在机器人的最高速度下，在正常条件下至少可以在三张图像中看到花朵。将传感模块用小于3 mm的误差校准，并集成到喷雾模块中。授粉媒介模块安装在机器人上，并在现实世界中进行了测试，并以3.5 km/h的平均速度达到79.5％的命中率。
This paper describes steps taken to develop a sensing module for a robotic kiwifruit flower pollinator, which could be integrated into an imaging module and a spray module. The paper described different indicators to present the performance of the sensing module that can be used as a benchmark. The sensing module provides data for the imaging module to detect kiwifruit flower reliably and accurately in the canopy. Four major challenges for a sensing module is the speed, accuracy, visibility, and robustness to variable lighting conditions. Regarding these issues, Basler acA1920-40uc camera with an LM6HC lens were selected from a list of fast cameras and lenses based on different parameters. The sensing module was tested in four orchards and captured 9128 images. According to the saturation rate parameter, the captured images were typical in 96% of conditions and the rest were glare due to the sunny weather and early season. The camera speed and field of view guarantee that in the highest speed of the robot a flower can be seen at least in three images in normal conditions. The sensing module was calibrated with less than 3 mm error and integrated to the spray module. The pollinator module was mounted on a robot and tested in the real world and achieved 79.5% hit rate at an average velocity of 3.5 km/h.
