A kind of orchard tree trunk three-dimensional detection and positioning method and device
A technology of three-dimensional detection and positioning method, which is applied in the direction of measuring device, optical device, radio wave measuring system, etc., and can solve the problem that the sensor cannot accurately detect the position and size information of the target obstacle
Active Publication Date: 2020-09-15
CHINESE ACAD OF AGRI MECHANIZATION SCI
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Problems solved by technology
[0003] The technical problem to be solved by the present invention is to provide a three-dimensional detection and positioning method and device for orchard tree trunks in order to solve the problem that a single sensor cannot accurately detect the position and size information of target obstacles in the prior art, and provide effective obstacle avoidance and intelligent planning for orchard operation machinery Provide technical support
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[0061] Below in conjunction with accompanying drawing, structural principle and working principle of the present invention are specifically described:
[0062] The invention is based on machine vision technology and laser radar technology, uses a camera to obtain image information in the field of view, and the laser radar returns distance and angle information of target obstacles. The tree trunk is detected in the image acquired by the color camera and its position is determined. Then use the pre-calibrated camera internal reference matrix to perform unified calculation of coordinates through the state space conversion between the image coordinate system, camera coordinate system, radar coordinate system and the world coordinate system. The three-dimensional detection position of the detection target is deduced by using the spatial geometric relationship.
[0063] The orchard tree trunk three-dimensional detection device of the present invention includes a color camera, a las...
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The invention discloses a three-dimensional detection and positioning method and a device for an orchard trunk. The method comprises the steps of establishing a three-dimensional detection and positioning model for the trunk; acquiring a trunk color image, and acquiring image coordinate information of a detection target according to the trunk color image; acquiring radar scanning data of two target points, and acquiring radar coordinate information of the target points according to the returned distance and angle information of the target points; converting the radar coordinate information into image coordinate information, and judging whether the two target points are from the same target trunk or not according to the image coordinate information of the detection target; if the two targetpoints are not from the same target trunk, searching another two target points again for repeated confirmation; if two target points are from the same target trunk, calculating the central point coordinate of the target trunk based on the radar coordinate information of the two target points; and calculating to obtain a trunk area of the target trunk according to the central point coordinate andthe image coordinate information of the detection target. The invention also provides a three-dimensional detection and positioning device for the orchard trunk by adopting the method.
Description
technical field [0001] The invention relates to the field of agriculture and forestry planting maintenance guarantee technology, in particular to a method and device for three-dimensional detection and positioning of orchard tree trunks by fusing image and laser radar technology. Background technique [0002] Intelligent mechanical operations in orchards require clear locations of fruit trees to effectively avoid obstacles. The existing orchard environmental sensing methods include color cameras, single-line laser radar, etc. The color camera can only reflect information such as image color and texture, and lacks distance information; although single-line lidar can reflect obstacle angle and distance information, it lacks target category information, and radar data is prone to noise and missing target points, making it impossible to accurately estimate the target The size information of the obstacle. Contents of the invention [0003] The technical problem to be solved b...
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IPC IPC(8): G01B11/24G01S17/06G01S17/89G01S17/93
CPCG01B11/24G01S17/06G01S17/89G01S17/93
Inventor 李佳吕程序王辉苑严伟韩娜娜张帅扬韩振浩
Owner CHINESE ACAD OF AGRI MECHANIZATION SCI