摘要
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夜间果实定位识别的方法,引入了RSSI信号强度定位技术,并在此基础上提出了一种泰勒级数展开的高精度定位方法。夜间采摘作业机器人采用接收到的RSSI信号强度对待采摘的果树进行定位,为了满足机器人移动时的实时定位,采用多次信道扫描的方式,提高了机器人定位的实时性。为了验证机器人夜间定位方法的有效性和可靠性,在夜间采摘环境下,对机器人的性能进行了测试。通过测试发现:机器人的定位精度较高,错误识别率较低,并且通过多次校正,可以有效提高作业精度,满足夜间作业的设计需求。
In order to improve the working efficiency of the fruit picking robot in the night, a method for locating the fruit of the fruit picking robot is proposed, and the RSSI signal intensity is introduced. Based on this, a high precision positio- ning method for the Taylor series expansion is proposed. At night, the RSSI signal intensity is used to locate the fruit trees. In order to meet the real-time positioning of the robot moving, the real-time performance of the robot is improved by using multiple channels. In order to verify the effectiveness and reliability of the robot, the robot＇s performance is test- ed by the test. The test shows that the accuracy of the robot is relatively high, and the accuracy can be improved.
作者
马永兵
Ma Yongbing(Nanjing College of Information Technology, Nanjing 210023, China)
出处
《农机化研究》
北大核心
2017年第1期212-216,共5页
Journal of Agricultural Mechanization Research
基金
湖北省自然科学基金项目(2014CFB322)
