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Orchard path visual navigation method and system based on fuzzy control algorithm and medium

A fuzzy control algorithm and visual navigation technology, applied in the control/regulation system, non-electric variable control, two-dimensional position/channel control and other directions, can solve the problem of low unmanned level, and achieve the effect of driving speed and steering.

Active Publication Date: 2020-02-21
SOUTH CHINA AGRI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, there is still little research on the application of agricultural visual navigation in China, and the unmanned level of domestic agricultural machinery land-to-cross transportation is generally not high. There is still a lot of room for development of visual navigation in the field of agricultural machinery transportation applications

Method used

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  • Orchard path visual navigation method and system based on fuzzy control algorithm and medium
  • Orchard path visual navigation method and system based on fuzzy control algorithm and medium
  • Orchard path visual navigation method and system based on fuzzy control algorithm and medium

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Experimental program
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Effect test

Embodiment 1

[0064] This embodiment discloses a visual navigation method for an orchard path based on a fuzzy control algorithm, through which the orchard vehicle is guided to drive in the orchard path, such as figure 1 As shown, the specific steps are as follows:

[0065] Step S1. Obtain an orchard guide track image; in this embodiment, the orchard guide track image is captured by a monocular camera, and the monocular camera is set on an orchard vehicle driving on the orchard guide track.

[0066] In this embodiment, the monocular camera used to photograph the orchard guide trajectory path is calibrated through the checkerboard calibration board. In this embodiment, after the monocular camera is calibrated, the skew coefficient is 8.88390, and the average error of reprojection is 0.2222. The matrix A in the camera is as follows:

[0067]

[0068] Tangential distortion coefficient p=[p 1 ,p 2 ] describes the distortion model as follows:

[0069]

[0070] Where p=[0.0024,0.0023] i...

Embodiment 2

[0110] This embodiment discloses a visual navigation system for orchard paths based on fuzzy control algorithms, such as figure 2 As shown, including the controller, image acquisition equipment and corner control system.

[0111] The controller is used to execute the orchard path visual navigation method based on the fuzzy control algorithm described in Embodiment 1; in this embodiment, the controller can be implemented by a microcomputer such as a CPU connected to a memory.

[0112] The image acquisition device is connected to the controller, and is used to send the collected orchard guide trajectory image to the controller; in this embodiment, the image acquisition device adopts a monocular camera, and the monocular camera adopts the orchard guide trajectory image captured by a CCD camera.

[0113] The steering angle control system is connected between the steering mechanism of the orchard vehicle and the controller, and is used to obtain the steering angle information of t...

Embodiment 3

[0120] This embodiment discloses a storage medium, which stores a program. When the program is executed by a processor, the fuzzy control algorithm-based orchard path visual navigation method described in Embodiment 1 is implemented, as follows:

[0121] Step S1, obtaining the orchard guide trajectory image;

[0122] Step S2, for the orchard guide trajectory image, obtain the color space and perform preprocessing;

[0123] Step S3, for the preprocessed orchard guide trajectory image, sequentially perform threshold segmentation, binarization and erosion processing to obtain the first image;

[0124] Step S4, for the first image, select a plurality of seed points on the vertical center line of the image; calculate the number of pixels on the left side of each sub-point and the number of pixels on the right side of each sub-point on the same horizontal line number;

[0125] Step S5, calculating the input amount PCLeft by calculating the number of pixels on the left side of all ...

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Abstract

The invention discloses an orchard path visual navigation method and system based on a fuzzy control algorithm, and a medium. The method comprises a step of firstly obtaining an orchard guide track image and then obtaining the orchard guide track image for preprocessing, a step of sequentially performing threshold segmentation, binarization and corrosion processing on the preprocessed orchard guide track image to obtain a first image, a step of selecting a plurality of seed points on a vertical center line of the first image, calculating to obtain an input quantity PCLeft according to the number of left side pixel points of all the seed points, and calculating to obtain an input quantity PCRlight according to the number of right side pixel points of all the seed points, a step of performing fuzzification by using a small membership function, a medium membership function and a large membership function aiming at input quantities PCLeft and PCRight, and a step of obtaining the speed andthe steering angle of an orchard vehicle running on an orchard guide track according to a fuzzification rule base and fuzzification results of the input quantities PCLeft and PCRight. The invention has the advantage that the orchard vehicle can be accurately guided to run in an orchard path.

Description

technical field [0001] The invention relates to the field of agricultural transportation navigation, in particular to a fuzzy control algorithm-based orchard path visual navigation method, system and medium. Background technique [0002] my country is a large agricultural country, among which fruit production ranks among the top in the world in terms of output and planting area. With the development of orchard planting in my country and the expansion of planting area year by year, standardized orchard planting production has gradually become a scale. For the wide planting area of ​​fruit planting in our country, the large distribution area and the serious outflow of rural labor force in our country, it has highlighted the urgent need for automatic transportation in the early stage of orchard agricultural use in our country. Compared with domestic agricultural intelligent machinery in foreign countries, the development of foreign agricultural machinery has an industrial tech...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0253G05D1/0223G05D1/0221G05D1/0276
Inventor 吴伟斌冉晓汪小名张震邦许健游展辉黄家曦朱文博岳丹丹梁荣轩陈明刘强陈祖元罗安生欧伟谋郑礼军
Owner SOUTH CHINA AGRI UNIV
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