A plant row following method for a harvesting robot

A technology of robot and robot body, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as automatic following of plants that cannot be directly applied to harvesting robots, and achieve the effect of continuously tracking harvested plants

Active Publication Date: 2022-04-26
重庆智田科技有限公司
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Problems solved by technology

As mentioned above, the existing technology cannot be directly applied to the problem of plant row automatic following of harvesting robot

Method used

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  • A plant row following method for a harvesting robot
  • A plant row following method for a harvesting robot
  • A plant row following method for a harvesting robot

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Embodiment Construction

[0077] The above is the content of the technical solution of the present invention, and now the solution of the present invention is described in detail as follows:

[0078] refer to Figure 1~Figure 4 , the embodiment discloses a plant row following method of a harvesting robot, including setting at least two laser radars on both sides of the front of the harvesting robot body, and more than two laser radars scan the same plant at the same time. The calibration method makes the laser The data information collected by radar scanning is more comprehensive and accurate than that of a single laser radar. In this embodiment, only two low-resolution laser radars are set on the two sides directly in front of the harvesting robot body. There is an RGB vision sensor at the end, which is realized through the following steps:

[0079] S1: The first laser radar and the second laser radar scan the calibration object at the same time and collect multiple laser data points respectively, an...

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Abstract

The invention discloses a plant row following method for a harvesting robot, which includes setting at least two laser radars on both sides of the front of the harvesting robot body, and at least one visual sensor at the rear end of the robot body. Plant recognition and positioning, as well as the direction prediction of the plant row, the use of visual sensors to realize the heading angle estimation of the main body, so that the robot body can follow the plant row in real time without the assistance of maps and positioning markers. At the same time, the laser Data clustering and curve fitting can effectively improve the anti-noise ability of the robot's environmental perception and the reliability of autonomous walking.

Description

technical field [0001] The invention relates to the technical field of agricultural equipment, in particular to a plant row following method for a rhizome and tuber crop harvesting robot. Background technique [0002] my country's rural areas are facing the dilemma of labor shortage and rising labor costs. Intelligent operation equipment has become a new hotspot in the research of agricultural machinery equipment technology. In particular, my country's radish, garlic, lettuce, cabbage and other crops have a large planting area and harvest mechanization rate. Low, while most of the existing harvesting equipment is side-mounted. Side-mounted harvesting machinery needs external power, and the external power is mostly provided by tractors. The weight of the tractor is relatively large, which will put a huge pressure on the soil, destroy the soil structure, and is not conducive to crop growth. Whether it is a side-mounted or self-propelled harvesting machine, the operator needs t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J11/00B25J9/16B25J19/02
CPCB25J11/00B25J9/16B25J19/02B25J9/1664B25J19/022
Inventor 杨钦涌杨金明
Owner 重庆智田科技有限公司
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