| 基于OFDM信道和远程监控的果园采摘机器人设计 |
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| 引用本文： | 周真真,李燕杰,闫瑞雪.基于OFDM信道和远程监控的果园采摘机器人设计[J].农机化研究,2017(3):229-233. |
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| 作者姓名： | 周真真 李燕杰 闫瑞雪 |
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| 作者单位： | 1. 石家庄科技工程职业学院 信息工程系,石家庄,050800;2. 天津农学院 计算机与信息工程学院,天津,300384 |
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| 基金项目： | 天津市高等学校科技发展基金计划项目(20140812) |
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| 摘 要： | 随着网络和远程控制技术的发展,基于移动互联网的智能机器人成为未来机器人的发展方向。到目前为止,采摘机器人还很少采用移动互联网进行远程监控,如果将移动互联网应用到果园采摘机器人的设计上,将会大幅度地提高采摘机器人的实时在线控制水平,提高多机器人编队控制能力。为此,提出了一种基于OFDM信道估计和远程监控网络的果园采摘机器人设计方法,并结合果实图像的分割、归一化、细化和增强技术,提高机器人果实图像的识别能力。通过夜间对采摘机器人平台的测试发现:机器人在加入信噪比的干扰信号情况下,采用OFDM传输系统的机器人信号发送端和接收端的信号吻合程度很高,误码率很低,为新式智能远程控制采摘机器人的研究提供了较有价值的参考。
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| 关 键 词： | OFDM 信道 远程控制 采摘平台 机器人 抗干扰 |
Design of Orchard Picking Robot Based on OFDM Channel and Remote Monitoring |
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| Zhou Zhenzhen,Li Yanjie,Yan Ruixue.Design of Orchard Picking Robot Based on OFDM Channel and Remote Monitoring[J].Journal of Agricultural Mechanization Research,2017(3):229-233. |
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| Authors: | Zhou Zhenzhen Li Yanjie Yan Ruixue |
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| Abstract: | With the development of network and remote control technology and intelligent robot based on mobile Internet become the development direction of the robot in the future, and so far, picking robot also rarely used mobile Internet re-mote monitoring, if the mobile Internet applications to the orchard picking machine design, will greatly improve the pick-ing robot real-time online control level, improve multi robot formation control ability. Accordingly, this study proposed a based on OFDM channel estimation and remote monitoring network of orchard picking robot design method, and combined with the fruit image segmentation, normalization, refinement and enhancement techniques, improve the ability to identify the robot fruit image. Through the night of picking robot platform test, it is found that the robot in joined the signal-to-noise ratio of the interference signal by OFDM transmission system of robot signal transmitting end and receiving end of the signal are consistent high and low bit error rate, the new intelligent remote control picking robot research provides a valuable reference. |
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| Keywords: | OFDM channel remote control picking platform robot anti-interference |
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