基于多跳无线网络和机器视觉的新式采摘机器人设计  

Design of a New Picking Robot Based on Multi Hop Wireless Network and Machine Vision

作　　者：谷利芬[1] 谢芳[1] 

机构地区：[1]焦作师范高等专科学校计算机与信息工程学院,河南焦作454000

出　　处：《农机化研究》2018年第3期221-225,共5页Journal of Agricultural Mechanization Research

基　　金：河南省教育厅科学技术研究重点项目(14B520037)

摘　　要：针对农田作业环境下传感器定位节点的数量较多、覆盖范围要求广及农作物作业场地很多都没有局域网覆盖的问题,提出一种面向多跳无线网络的采摘机器人节点定位方法,并将其应用在待采摘区域的精确定位上,从而提高了采摘机器人定位和目标识别的整体性能,降低了采摘机器人总体的能源损耗。在新式采摘机器人的设计过程中,采用无线多跳网络通过多个无线路由对接收的定位数据进行转发,其部署简单,可以使定位节点进行周期性的休眠,能源消耗低,从而保证了采摘机器人能源的供应;采用机器视觉辅助目标果实定位识别系统,实现了待采摘果实的准确定位。对采摘机器人多跳无线网络定位系统进行了抗干扰能力测试,结果表明:噪声干扰的环境下,采摘机器人依然具有较好的通信能力,可以对待采摘区域实现较为精确定位。Due to the large number of nodes,sensor positioning is confirmed by the farmland environment coverage requirements under the wide,and the crops working site are not many LAN coverage problems,it proposes a method for multi hop wireless networks picking robot localization,and its application in precise positioning for picking area,thereby improves the picking the overall performance of robot localization and target recognition,reduces the energy loss of the overall picking robot. In the design process of the new harvesting robot,using multi hop wireless networks based on forward positioning data receiving of a wireless router,its simple deployment,can make the nodes sleep periodically,low energy consumption,so as to ensure the supply of energy harvesting robot,using machine vision aided target recognition and positioning system. To achieve accurate positioning for picking fruit,the anti-jamming ability test of picking robot wireless network positioning system for multi hop,the test results indicated that the noise environment,picking robot still has good communication ability,which can treat the actual location accurately picking area.

关 键 词：采摘机器人 多跳网络 无线定位 机器视觉 抗干扰 

分 类 号：S233.4[农业科学—农业机械化工程] TP391.41[农业科学—农业工程]