农机化研究2016，Vol.38Issue(7)：234-238,5.
基于DSP信号实时编码的采摘机器人避障控制研究
Research on Obstacle Avoidance Control of Picking Robot Based on DSP Signal Real-time Coding Technology
摘要
Abstract
In order to improve the picking robot successfully obstacle avoidance performance, it takes machine vision technology and DSP real-time encoding technology into picking robot.Through real-time encoding of mature fruit images and video,it can obtain the fruits and vegetables position and the obstacle position to successfully avoid obstacles.Accord-ing to the software architecture for robot video capture driver,under the condition of not increasing front-end peripherals to achieve the initiative to drop frame,it drives the collection transformation.According to the characteristics of DSP chip, the real-time encoder of optimization was designed.It greatly increased rate of high resolution real-time image coding. Finally,the robot location of the distance measurement and obstacle avoidance capabilities were tested, it is found that within the distance is with the range of 1.20-2.00m.Measurement of the distance and the actual distance of the maxi-mum deviation less than 0.03m,six groups of obstacle avoidance test robot successfully avoided obstacles with the higher probability,reached a minimum of 97.28%and met the design requirements.关键词
采摘机器人/实时编码/机器视觉/降帧处理/避障控制Key words
picking robot/real-time encoding/machine vision/frame reduction/obstacle avoidance control/DSP分类
农业科技引用本文复制引用
马将,文宇桥,詹旭..基于DSP信号实时编码的采摘机器人避障控制研究[J].农机化研究,2016,38(7):234-238,5.基金项目
四川省教育厅项目(14ZB0223) （14ZB0223）
