基于导频跟踪的果蔬采摘机器人夜间识别方法研究

摘要

In order to improve the fruit picking robot in night work efficiency , put forward a kind of picking robot manip-ulator 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 , calibra-tion 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 noc-turnal misoperation rate for fruit picking robot , research , and provides a new the reference pilot technology method .%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。