摘要
在一些特殊的采摘作业场合,如复杂的山地、悬崖等作业危险性较高的地区,研究一款双向通信的机器人,一方面可以传回复杂环境的作业信息,另一方面可以通过控制中心发出控制指令,指导机器人在复杂环境中完成采摘作业,具有重要的现实意义。为此,基于WIFI无线局域网,提出了一种具有实时数字图像传输的交互终端式采摘机器人,采用高清COMS相机完成图像的采集,使用MCU处理器对图像和控制信号进行处理,利用WIFI模型完成图像和控制信号的传送。为了验证方案的可行性,分别对监控端和机器人接收端的通信进行了测试。测试结果表明:采摘机器人采用WIFI无线通信,其通信速度和通信距离相比其他无线通信方式都具有明显的优势,可以有效完成数字图像的传送。对接收终端和采摘终端的双向通信误码率进行了统计,统计结果表明:其通信的精度较高,可以满足复杂环境采摘作业的设计需求。
In some special occasions such as picking,high mountain and cliff complex operational risk areas of a two-way communication robot can return operation information of a complex environment,on the other hand can through the control center sends out the control command,guiding robot picking operation is completed in a complex environment,with reality significance. WIFI based wireless LAN,a real-time digital image transmission interactive terminal picking robot,the robot uses high-definition COMS camera image acquisition,using MCU processor for image processing and control signal transmission by using WIFI model to complete the image and control signal. In order to verify the feasibility of the proposed scheme,respectively on communication monitor terminal and the receiving end of the robot was tested,the test results indicate that the picking robot based on WIFI wireless communication,the communication speed and distance compared to other wireless communication mode has obvious advantages,can effectively complete the transmission of digital images. The two-way communication bit error rate of the receiving terminal and the picking terminal is statistically analyzed. The statistical results show that the precision of the communication is high,which can meet the design requirements of the complex environment picking operation.
出处
《农机化研究》
北大核心
2018年第5期210-214,共5页
Journal of Agricultural Mechanization Research
基金
河南省科技攻关项目(152102110161)
