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| Laser ranging sensor for apple harvesting robot |
| 1. Key Laboratory of Modem Precision Agriculture System Integration Research of Ministry of Education, China Agricultural University Beijing 100083, China; 2. Network Centre, China Agricultural University, Beijing 100083, 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 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.
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2010, Vol. 31 
