樱桃番茄串生长姿态多样、果实成熟度不一,采摘机器人进行“粒收”作业时,常面临果梗干涉末端执行器、成熟度判断错误等问题,导致采摘效率低下、难以有效实现分级采收。针对上述问题,该研究提出一种级联视觉检测流程,包括采收目标检测...樱桃番茄串生长姿态多样、果实成熟度不一,采摘机器人进行“粒收”作业时,常面临果梗干涉末端执行器、成熟度判断错误等问题,导致采摘效率低下、难以有效实现分级采收。针对上述问题,该研究提出一种级联视觉检测流程,包括采收目标检测、目标果实特性判别、果实与果梗位置关系判断3个关键环节。首先根据农艺要求按成熟度将番茄果实分为4个等级,引入YOLOv5目标检测模型对番茄串和番茄果实进行检测并输出成熟度等级,实现分期采收。然后对果实与果梗的相对位置进行判断,利用MobileNetv3网络模型对膨胀包围盒进行果实与果梗相对位置关系判断,实现末端执行器采摘位姿控制。日光温室实际测试结果表明,本文提出的级联检测系统平均推理用时22ms,在IOU(intersection over union)阈值为0.5的情况下,樱桃番茄串与果实的平均检测精度达到89.9%,满足采摘机器人的视觉检测精度和实时性要求,相比末端执行器以固定角度靠近待采目标的方法,本文方法采收效率提升28.7个百分点。研究结果可为各类果蔬采摘机器人研究提供参考。展开更多
The widespread use of ChatGPT has normalized the dialogue Turing test.To meet this challenge,China's major national development strategy suggests that for a new generation of artificial intelligence,it is first ne...The widespread use of ChatGPT has normalized the dialogue Turing test.To meet this challenge,China's major national development strategy suggests that for a new generation of artificial intelligence,it is first necessary to answer the big questions raised by Turing in 1950 from the perspective of cognitive physics:Can machines think?How do machines think?How do machines cognize?Whether it is carbon-based human cognition or silicon-based machine cognition,it is an interaction between complex constructs composed of the four most basic elements:matter,energy,structure,and time.Both humans and machines depend on negative entropy for living,and time is the cornerstone of cognition.Structure and time are parasitic on matter and energy in physical space,forming hard-structured ware.The soft-structured ware in cognitive space is mind,which is parasitic on the hard-structured ware or other existing soft-structured ware,and constitutes a rich hierarchy of multi-scale feelings,concepts,information,and knowledge.Extending"abstraction"from the symbolic school of artificial intelligence,"association"from the connectionist school,and"interaction"from the behaviorist school,the core of cognition is established on the shoulders of such scientific giants such as Schrodinger,Turing and Wiener.Soft and hard-structured ware interact.Cognitive machine can comprise heterogeneous hard-structured ware,such as field programmable gate arrays(FPGAs),data processing units(DPUs),central processing units(CPUs),graphics processing units(GPUs),tensor processing units(TPUs),and memory.It can also be implanted with the"Baby Cognitive Nucleus"which is hard-structured ware genetically inherited and naturally evolved to form the embodied machine.Then the hard-structured ware is parasitized by rich,multi-scale soft-structured ware.By regulating matter and energy through soft-structured ware,machines produce orderly events,form coordinated and orderly thinking activities.The heterogeneous sensors configured by the machine and the speed of thinking will no longer be trapped by the extreme values of biochemical parameters of carbon-based organisms but will be able to perceive through multi-channel cross-modal means,carry out intense thinking,and maintain cognitive continuity with memory.To generate computational and memory intelligence in cognitive space which can bootstrap,self-reuse and self-replicate,imagination and creativity are improved through memory-constrained computing.The new generation of artificial intelligence will leap beyond mechanized mathematics to automation in thinking and self-driven growth of cognition,and the thinking in the cognitive space and the behavior in the physical space verify each other,from the dialogue Turing test to the embodied Turing test.Humans have entered the intelligent era of human-machine co-creation with cognitive machines iteratively inventing,discovering,and creating alongside scientists,engineers,and skilled craftsmen,each wise in its way,improving thinking ability,and amplifying human energy.展开更多
文摘樱桃番茄串生长姿态多样、果实成熟度不一,采摘机器人进行“粒收”作业时,常面临果梗干涉末端执行器、成熟度判断错误等问题,导致采摘效率低下、难以有效实现分级采收。针对上述问题,该研究提出一种级联视觉检测流程,包括采收目标检测、目标果实特性判别、果实与果梗位置关系判断3个关键环节。首先根据农艺要求按成熟度将番茄果实分为4个等级,引入YOLOv5目标检测模型对番茄串和番茄果实进行检测并输出成熟度等级,实现分期采收。然后对果实与果梗的相对位置进行判断,利用MobileNetv3网络模型对膨胀包围盒进行果实与果梗相对位置关系判断,实现末端执行器采摘位姿控制。日光温室实际测试结果表明,本文提出的级联检测系统平均推理用时22ms,在IOU(intersection over union)阈值为0.5的情况下,樱桃番茄串与果实的平均检测精度达到89.9%,满足采摘机器人的视觉检测精度和实时性要求,相比末端执行器以固定角度靠近待采目标的方法,本文方法采收效率提升28.7个百分点。研究结果可为各类果蔬采摘机器人研究提供参考。
文摘The widespread use of ChatGPT has normalized the dialogue Turing test.To meet this challenge,China's major national development strategy suggests that for a new generation of artificial intelligence,it is first necessary to answer the big questions raised by Turing in 1950 from the perspective of cognitive physics:Can machines think?How do machines think?How do machines cognize?Whether it is carbon-based human cognition or silicon-based machine cognition,it is an interaction between complex constructs composed of the four most basic elements:matter,energy,structure,and time.Both humans and machines depend on negative entropy for living,and time is the cornerstone of cognition.Structure and time are parasitic on matter and energy in physical space,forming hard-structured ware.The soft-structured ware in cognitive space is mind,which is parasitic on the hard-structured ware or other existing soft-structured ware,and constitutes a rich hierarchy of multi-scale feelings,concepts,information,and knowledge.Extending"abstraction"from the symbolic school of artificial intelligence,"association"from the connectionist school,and"interaction"from the behaviorist school,the core of cognition is established on the shoulders of such scientific giants such as Schrodinger,Turing and Wiener.Soft and hard-structured ware interact.Cognitive machine can comprise heterogeneous hard-structured ware,such as field programmable gate arrays(FPGAs),data processing units(DPUs),central processing units(CPUs),graphics processing units(GPUs),tensor processing units(TPUs),and memory.It can also be implanted with the"Baby Cognitive Nucleus"which is hard-structured ware genetically inherited and naturally evolved to form the embodied machine.Then the hard-structured ware is parasitized by rich,multi-scale soft-structured ware.By regulating matter and energy through soft-structured ware,machines produce orderly events,form coordinated and orderly thinking activities.The heterogeneous sensors configured by the machine and the speed of thinking will no longer be trapped by the extreme values of biochemical parameters of carbon-based organisms but will be able to perceive through multi-channel cross-modal means,carry out intense thinking,and maintain cognitive continuity with memory.To generate computational and memory intelligence in cognitive space which can bootstrap,self-reuse and self-replicate,imagination and creativity are improved through memory-constrained computing.The new generation of artificial intelligence will leap beyond mechanized mathematics to automation in thinking and self-driven growth of cognition,and the thinking in the cognitive space and the behavior in the physical space verify each other,from the dialogue Turing test to the embodied Turing test.Humans have entered the intelligent era of human-machine co-creation with cognitive machines iteratively inventing,discovering,and creating alongside scientists,engineers,and skilled craftsmen,each wise in its way,improving thinking ability,and amplifying human energy.
