Target Location Based on Ultrasonic Ranging and Vision Information for Picking Robot

In order to confirm the spatiallocation of the fruit target, a target location method by inosculating ultrasonic ranging and vision was developed for eggplant picking robot. The two dimension image information was achieved by means of color camera. The distance of fruit target was measured by using ultrasonic distance measurer. A three layers BP(Back Propagation) neural network was structured to locate the eggplant. The input variables of the neural network were image center coordinates and distance obtained by ultrasonic distance measurer. The output were space coordinates of picking point. The improved BP algorithm was used to train the parameter of the neural network. The effective parameter was achieved after 100 times of training. Experiments showed that the average rms error of the space coordinates of eggplant was 15.6mm when the measure distance ranges from 150 mm to 600 mm and the average time consumed was 0.27s. The target location method by inosculating ultrasonic ranging and vision information for eggplant picking robot owns good intelligence and wide adaptability and it can meet the demands of the eggplant picking robot.