| 应用于苹果采摘机器人的激光距离传感器 |
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| 引用本文： | 刘兆祥,刘刚,乔军.应用于苹果采摘机器人的激光距离传感器[J].江苏大学学报(自然科学版),2010,31(4). |
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| 作者姓名： | 刘兆祥 刘刚 乔军 |
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| 作者单位： | 1. 中国农业大学,现代精细农业系统集成研究教育部重点实验室,北京,100083
2. 中国农业大学,网络中心,北京,100083 |
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| 基金项目： | 国家高技术研究发展计划(863计划)项目 |
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| 摘 要： | 为获得苹果的深度信息,实现苹果采摘机器人对苹果的三维定位,研制了一种基于主动三角测量原理的激光距离传感器.该传感器在信号接收单元增加了窄带通干涉滤光片,削弱了太阳光的影响;系统采用同步检波的信号采集方法有效地抑制了外界干扰,实现了距离的精确测量.试验结果表明,这种传感器可以在近距离范围获得苹果的深度信息,而且不受环境影响,在150～800 mm距离范围内,最大距离偏差不超过13 mm.
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| 关 键 词： | 距离传感器 激光 三角测量 调制 检波 |
Laser ranging sensor for apple harvesting robot |
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| Liu Zhaoxiang,Liu Gang,Qiao Jun.Laser ranging sensor for apple harvesting robot[J].Journal of Jiangsu University:Natural Science Edition,2010,31(4). |
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| Authors: | Liu Zhaoxiang Liu Gang Qiao Jun |
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| Institution: | Liu Zhaoxiang1,Liu Gang1,Qiao Jun2(1.Key Laboratory of Modern Precision Agriculture System Integration Research of Ministry of Education,China Agricultural University,Beijing 100083,China,2.Network Centre,China) |
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| Abstract: | In order to obtain the depth information of apples and to determine the three dimensional positions of fruits for apple harvesting robot,a laser ranging sensor based on active triangulation principle was developed.Narrowband-pass filter was introduced into the signal receiving part for the sensor,which weakened the influence of sunlight.Synchronization demodulation was utilized to restrain the interference of environment effectively in data acquisition,and to realize the accurate measurement of distance.The... |
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| Keywords: | ranging finders lasers triangulation modulation demodulation |
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