Navigation positioning method of orchard machine

Abstract

The invention discloses a navigation positioning method of an orchard machine. According to the method, a navigation positioning process of an orchard machine in an orchard is divided into the following three steps that: when an orchard machine is driving between fruit trees, a three-dimensional environment in front of the orchard machine is obtained and effective navigation information is extracted by fusing laser scanning information and information obtained by detection of a vision sensor; when the orchard machine is going to be driven to an end of a fruit tree row, information obtained bymeasurement of all internal sensors of the orchard machine is combined by a Kalman filter so as to obtain information used for navigation location of the orchard machine; and when the orchard machineis driven to an end of the orchard filed, an optimal control programming turning path is utilized as well as a GPS sensor is employed to obtain positional information of the orchard machine. According to the invention, an accurate lateral deviation and an accurate course deviation are provided for navigation controlling of an orchard machine; and on the basis of utilization of combination and location of multiple sensors, automatic driving of the orchard machine in a whole orchard environment is realized.

Description

technical field [0001] The invention belongs to the technical field of navigation, in particular to a navigation and positioning method for orchard machinery. Background technique [0002] Precise navigation is one of the important supporting technologies for realizing intelligent orchard machinery and equipment. Research on navigation and positioning methods is the basic work of orchard machinery navigation, and its performance directly affects the accuracy of orchard machinery navigation control. Therefore, improving the accuracy of orchard machinery navigation and positioning is the primary issue for improving the quality of orchard machinery automatic walking. [0003] At present, the common method of orchard machinery navigation and positioning is to use visual sensors or laser scanners to obtain navigation information. Visual images have the advantages of rich information and complete target information. However, due to the complexity of the orchard environment, there ...

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Problems solved by technology

[0003] At present, the common method of orchard machinery navigation and positioning is to use visual sensors or laser scanners to obtain navigation information. Visual images have the advantages of rich information and complete target information. However, due to the complexity of the orchard environment, there are a large number of noise signals, which will cause The loss of image information leads to real-time problems; laser navigation has the advantages of long detection distance and little influence from external environmental factors such as light. In the orchard environment, fruit trees can be regarded as obstacles, and the position information of fruit trees scanned by laser can be used As navigation information, laser scanning also has the disadvantage of obtaining incomplete obstacle information, and cannot obtain navigation information when obstacles are missing.

[0004] In view of the above-mentioned problems in the navigation method using a single sensor, a navigation method using combined positioning is also proposed in the prior art, mainly using a combination of a visual sensor and a laser, and using a visual sensor to obtain basic navigation parameters for orchard machinery navigation. Use laser to detect obstacles, and realize the fusion of two kinds of information through Kalman filtering and other methods to obtain navigation information for orchard machinery. However, due to the large impact of the visual sensor on the environment, orchard machinery cannot extract the navigation path stably. At the same time, in the orchard In the field, due to the lack of fruit trees, neither visual sensors nor lasers can provide effective navigation parameters for the turning of orchard machinery

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