Visual navigation system of orchard robot

A visual navigation and robot technology, applied in navigation computing tools, road network navigators, control/regulation systems, etc., can solve the problems of high cost of electromagnetic navigation, easy to be affected by external factors, lack of reliability, etc., to improve reliability Performance and practicability, guarantee safety and reliability, and solve the effect of high cost

Active Publication Date: 2016-10-12
NORTHWEST A & F UNIV
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AI Technical Summary

Problems solved by technology

In the orchard environment, due to the obstruction of fruit tree branches and leaves, the GPS navigation and positioning effect is poor; laser navigation is easily affected by the environment, and the error is large; the cost of electromagnetic navigation is too high; It has good a

Method used

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  • Visual navigation system of orchard robot
  • Visual navigation system of orchard robot
  • Visual navigation system of orchard robot

Examples

Experimental program
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Embodiment Construction

[0017] The CCD camera is installed at the center of the front end of the orchard robot and tilts downward at a certain angle. It is responsible for collecting image information related to the orchard path, and after real-time processing by the digital image processor DSP, the navigation baseline information is extracted, combined with the calibration parameters of the camera. , and finally determine the navigation parameters of the orchard robot in the actual environment, that is, the heading angle θ, and transmit θ to the single-chip control module. The USB camera is installed on the side of the orchard robot, opposite to the artificially arranged two-dimensional code signboard, responsible for collecting image information related to the two-dimensional code, and the PC recognizes and processes the image information of the two-dimensional code to obtain the relevant "straight line" ", "Turn left at the head of the field", "turn right at the head of the field", and finally pass...

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Abstract

The invention relates to a visual navigation system of an orchard robot. The visual navigation system comprises four parts, namely, a navigation reference line recognition module, a two-dimensional code positioning module, an ultrasonic obstacle avoiding module and a singlechip microcomputer control module. According to the visual navigation system, navigation reference line recognition based on natural environments and positioning based on two-dimensional code marking are combined for visual navigation, an ultrasonic sensor is adopted for safe obstacle avoidance, and finally a singlechip microcomputer is adopted for walking control on the orchard robot. The visual navigation system has important significances for lowering navigation cost, solving the problem of poor turning adaptability of visual navigation in orchards merely on the basis of natural environments, and improving navigation reliability and practicability.

Description

technical field [0001] The invention belongs to the field of orchard robot navigation, and relates to a navigation system, in particular to a visual navigation system of an orchard robot. Background technique [0002] my country is a big fruit producing country, but the automation and intelligence of orchard operations is still low at present. Orchard operations are still dominated by manpower, with high labor intensity and low productivity, which greatly restricts the development of my country's fruit economy. At this stage, the research on intelligent agricultural equipment has attracted more and more attention, and autonomous navigation is the key to the research on intelligent agricultural equipment. In the orchard environment, due to the obstruction of fruit tree branches and leaves, the GPS navigation and positioning effect is poor; laser navigation is easily affected by the environment, and the error is large; the cost of electromagnetic navigation is too high; It ha...

Claims

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Application Information

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IPC IPC(8): G01C21/20G01C21/28G05D1/02
CPCG05D1/0246G05D1/0257G01C21/20G01C21/28
Inventor 杨福增王帅先王强朱利元
Owner NORTHWEST A & F UNIV
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