基于OFDM-MIMO移动通信模型的采摘机器人设计

Design of the Picking Robot Based on the Model of OFDM-MIMO High Speed Mobile Communication System

为了提高果树采摘机器人的智能化和自动化水平,提高机器人的实时通信和在线控制能力,实现机器人作业过程的远程控制,在采摘机器人通信系统中引入了OFDM-MIMO模型,并将移动4G技术应用到了机器人的设计中,突破了机器人控制距离限制,实现了机器人的跨区域无线通信。机器人采用视觉传感器和4G网络采集并传输图像,图像数据可以在远程浏览器端实时显示,便于掌握机器人作业信息。当机器人碰撞传感器发出信号时,可以利用OFDM-MIMO信道模型进行图像的高效传输,并将视觉传感器采集的图像信息传送给远程控制端,在采摘出现失误时可以及时地调整机器人的状态,实现果实采摘的在线控制。同时,设计了机器人的实验样机,并对机器人的果实定位能力和通信能力进行了实验和仿真。实验和仿真结果表明:该种机器人可以有效地识别普通果实和套袋果实,并且通信实验测试和仿真测试的结果吻合,从而验证了结果的可靠性及OFDMMIMO模型在采摘机器人通信系统中的可行性。

In order to improve the fruit picking robot and automation level, improve the robot＇s real-time communication and online control ability, remote control of robot operation process, has brought the OFDM-MIMO model in communica- tion system of the picking robot, and mobile 4G technology applied to the design of the robot, breaking the robot control distance constraints, the realization of the robot cross regional wireless communication. The robot uses the vision sensor and 4G network to collect and transmit the image, and the image data can be displayed on the remote browser side in real time, so it is easy to grasp the robot operation information. When a signal when the robot collision sensor, you can use the OFDM-MIMO channel model for image, transmission, and collected by the vision sensor image information is trans- mitted to the remote control end, picking errors when can timely adjust the robot state, to achieve control of the fruit picking online. Finally design the experimental prototype robot, and the robot＇s fruit localization ability and communica- tion ability is studied by experiment and simulation. From the experiment and the simulation results show that, the robot can effectively identify the common fruit and bagging fruit and communication test, simulation and measurement test re- suits are in good agreement, thus validating the reliability results, verify the OFDM-MIMO model in picking robot com- munication system the feasibility.