A "Global-Local" Visual Servo System for Picking Manipulators.

Yinggang Shi, Wei Zhang, Zhiwen Li, Yong Wang, Li Liu, Yongjie Cui

Abstract read

In one paragraph

Article in Sensors (Basel, Switzerland), 2020. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 1 paper.

0numbers the graph read from it

0cells of the map it votes in

1citing papers in PubMed

–field-weighted citation impact

1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

The trial behind it

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Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

1 citing paper in PubMed.

High-precision object detection network for automate pear picking.Scientific reports · 2024
Article

4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

6 authors.

Yinggang ShiCollege of Mechanical and Electronic Engineering, Northwest A&F University, Yangling 712100, China.ORCID 0000-0001-6835-4604

Wei ZhangCollege of Mechanical and Electronic Engineering, Northwest A&F University, Yangling 712100, China.

Zhiwen LiCollege of Mechanical and Electronic Engineering, Northwest A&F University, Yangling 712100, China.

Yong WangCollege of Mechanical and Electronic Engineering, Northwest A&F University, Yangling 712100, China.

Li LiuCollege of Mechanical and Electronic Engineering, Northwest A&F University, Yangling 712100, China.

Yongjie CuiCollege of Mechanical and Electronic Engineering, Northwest A&F University, Yangling 712100, China.

Funding

Shaanxi Key Research and Development Program of China 2019NY-171, 2018TSCXL-NY-05-04The Innovative Training Program for College Students of Northwest A&F University 1201810712046

6 · The paper itself

Abstract

During the process of automated crop picking, the two hand-eye coordination operation systems, namely "eye to hand" and "eye in hand" have their respective advantages and disadvantages. It is challenging to simultaneously consider both the operational accuracy and the speed of a manipulator. In response to this problem, this study constructs a "global-local" visual servo picking system based on a prototype of a picking robot to provide a global field of vision (through binocular vision) and carry out the picking operation using the monocular visual servo. Using tomato picking as an example, experiments were conducted to obtain the accuracies of judgment and range of fruit maturity, and the scenario of fruit-bearing was simulated over an area where the operation was ongoing to examine the rate of success of the system in terms of continuous fruit picking. The results show that the global-local visual servo picking system had an average accuracy of correctly judging fruit maturity of 92.8%, average error of fruit distance measurement in the range 0.485 cm, average time for continuous fruit picking of 20.06 s, and average success rate of picking of 92.45%.

Indexed as

hand–eye coordinationmanipulatortomato pickingvisual servo

Identifiers

PMID32545849

DOI10.3390/s20123366

PMCPMC7348848

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LicenceCC BY

Read underepoch 390

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Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.