CAJ | 학술논문

为了实现机器人玉米秸秆行的精确定位,对耕作玉米机器人的结构进行了改进,并提出了一种基于泰勒级数展开式的RSSI 定位方法,提高了机器人玉米秸秆行的定位精度. 定位系统使用高清晰度的摄像机采集图像,并采用PID闭环反馈的方式控制机器人的位移,利用 PC 主控端图像处理,实现了实时定位功能. 为了验证机器人玉米秸秆行定位的可靠性,采用田间试验的方法对机器人的性能进行了测试. 结果表明:RSSI 定位方法的定位精度较高,且图像处理系统可以准确地标定玉米秸秆行,实现机器人在玉米田中的精确定位,避免了机器人在作业过程中对农作物造成损害.
위료실현궤기인옥미갈간행적정학정위,대경작옥미궤기인적결구진행료개진,병제출료일충기우태륵급수전개식적RSSI 정위방법,제고료궤기인옥미갈간행적정위정도. 정위계통사용고청석도적섭상궤채집도상,병채용PID폐배반궤적방식공제궤기인적위이,이용 PC 주공단도상처리,실현료실시정위공능. 위료험증궤기인옥미갈간행정위적가고성,채용전간시험적방법대궤기인적성능진행료측시. 결과표명:RSSI 정위방법적정위정도교고,차도상처리계통가이준학지표정옥미갈간행,실현궤기인재옥미전중적정학정위,피면료궤기인재작업과정중대농작물조성손해.
In order to achieve accurate positioning robot corn stalk line , the structure of farming corn robot is improved , and it put forward a kind of RSSI localization method based on Taylor series expansion , and increase the corn stalk line robot positioning accuracy .Together with the method of PID closed-loop feedback control ,by using high resolution camera gathering image ,the positioning system use the PC master side image processing the displacement of the robot , realized the real-time positioning function .In order to verify the reliability of the robot corn stalk line , and adopt the method of field experiments on the performance of the robot were tested .Through test ,it was found that the proposed RSSI positioning method of positioning accuracy is higher , and the image processing system can accurate calibration of corn stalk line , which can accomplish the precise positioning of the robot in the corn field and avoid the robot in the process of opera-tion causing damage to the crops .