应用于苹果采摘机器人的激光距离传感器  

Laser ranging sensor for apple harvesting robot

作　　者：刘兆祥[1] 刘刚[1] 乔军[2] 

机构地区：[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

出　　处：《江苏大学学报（自然科学版）》2010年第4期373-377,共5页Journal of Jiangsu University：Natural Science Edition

基　　金：国家高技术研究发展计划(863计划)项目(2006AA10Z255)

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.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 experimental result indicate that the sensor can obtain the depth information of apples in short range distance without interference of environment, and the maximum error was less than 13 mm in the range from 150 mm to 800 mm.

关 键 词：距离传感器 激光 三角测量 调制 检波 

分 类 号：S126[农业科学—农业基础科学]