基于导频跟踪的果蔬采摘机器人夜间识别方法研究

Research on Night Identification Method of Fruit and Vegetable Picking Robots Based on Pilot Tracking

为了提高果实采摘机器人在夜间作业的工作效率,提出了一种适用于果实采摘机器人机械手夜间果实定位识别的方法,引入了导频追踪技术,并在此基础上提出了一种基于直接判决的快时变信道估计方法。该方法采用了直接判决算法进行信道估计,根据夜间果实图像的二值化处理阈值,标定发出指令的信道,从而对是否采摘进行快速判决,提高了机器人的工作效率。为了验证该方法的有效性和可靠性,对机械手的夜间作业的效率和准确性进行了测试。通过测试发现:该方法可以快速地对果实进行定位,并通过校正,其有效地降低夜间误操作率,为果实采摘机器人的研究,提供了一种新的可参考的导频技术方法。

In order to improve the fruit picking robot in night work efficiency,put forward a kind of picking robot manipulator night fruit location identification method suitable for fruit,and introduces the pilot tracking technology,on the basis of this,presents a method for estimating the direct judgment based on the fast time- varying channels. The method uses the direct decision algorithm for channel estimation,based on the two night of fruit image binarization threshold,calibration instructions on whether the channel,thus picking fast decision,to make the robot work efficiency. In order to verify the validity of the method and the reliability,efficiency and accuracy of the manipulator work at night were tested,found by testing,the method can quickly detect the location of the fruit,and by the correction,can effectively reduce the nocturnal misoperation rate for fruit picking robot,research,and provides a new the reference pilot technology method.