Improved Performance for Multi-Arm Harvest Robot System with Edge Computing and Distributed Communication
文献类型： 会议论文
第一作者： Feng Xie
作者： Feng Xie 1 ; Tao Li 1 ; Qingchun Feng 1 ;
作者机构： 1.Intelligent Equipment Research Center, Beijing Academy of Agriculture and Forestry Sciences, Beijing, China
关键词： Wireless communication;Visualization;System performance;Robot vision systems;Streaming media;Cameras;Real-time systems
会议名称： Asia-Pacific Conference on Intelligent Robot Systems
主办单位：
页码： 29-32
摘要： It is of practical significance to use robots for fruit harvesting instead of labor. According to the increased complexity and computing power for multi-arm harvest robots, a robotic system with edge computing and distributed communication is proposed to ensure performance and control costs. In this system, NVIDIA Jetson TX2 is used for object prediction to share the computation of the host platform. Then, in order to ensure real-time performance of the vision framework, a mode of linking between multiple cameras and the platforms of the host and edge is designed, which allocates tasks for visual processing to each platform and centralizes images and labels to the host via distributed communication based on ROS topics. Finally, we verified this approach that can increase the speed of prediction and ensure the fluency of depth streams, improving the performance of the system and obtaining a more efficient harvest.
分类号： tp24-53
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