基于DSP信号实时编码的采摘机器人避障控制研究

为了提高采摘机器人成功避障的性能,在采摘机器人机器视觉技术中引入了DSP实时编码技术,通过对成熟果蔬图像和视频的实时编码,获取果蔬位置和障碍物位置,达到成功避障的目的。根据机器人视频采集驱动的软件架构,对采集驱动进行了改造,在不增加前端外设的前提下实现了主动降帧,并根据DSP芯片的特点,对实时编码器进行了优化设计,大大提高了高分辨率图像实时编码的速率。最后,对机器人的距离位置测量和避障功能进行了测试,通过测试发现:在1.20~2.00m的距离范围内,测量的距离和实际距离的最大偏差不超过0.03m,6组避障测试中机器人成功避障的概率较高,其中最低也达到了97.28%,符合设计的要求。

Research on Obstacle Avoidance Control of Picking Robot Based on DSP Signal Real-time Coding Technology

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.