Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Orchard inter-row navigation line extraction method based on 3D Lidar

An extraction method and a technology of navigation lines, which are applied in the fields of electromagnetic wave reradiation, radio wave measurement system, image data processing, etc., can solve problems such as error-prone, large amount of image processing data, and large environmental interference, and achieve low environmental interference , high real-time performance and low computational load

Active Publication Date: 2020-08-14
CHINA AGRI UNIV
View PDF5 Cites 7 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] At present, domestic and foreign research on the extraction of orchard inter-row navigation lines is mainly based on image processing and two-dimensional laser radar. The

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Orchard inter-row navigation line extraction method based on 3D Lidar
  • Orchard inter-row navigation line extraction method based on 3D Lidar
  • Orchard inter-row navigation line extraction method based on 3D Lidar

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0044] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0045] Such as figure 1 As shown, a kind of 3D Lidar-based orchard row navigation line extraction method of the present invention comprises the steps:

[0046] S1. Collect the three-dimensional original point cloud data between the rows of the target orchard;

[0047] The 3D original point cloud data between rows of the target orchard is collected by 3D Lidar, and the 3D coordinate system OXYZ is constructed.

[0048] Such as figure 2 As shown, the block in the figure is the mobile robot. The geometric center of the mobile robot and the geometric center of the 3D Lidar are located on the Z axis perpendicular to the horizontal plane. The geometric center of the 3D Lidar is the origin O of the three-dimensional Cartesian coordinate system OXYZ. The movement of the mobile robot The direction is the X-axis, and the Y-axis is perpendicular to the X-axis ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention belongs to the technical field of three-dimensional point cloud processing, and particularly relates to an orchard inter-line navigation line extraction method based on 3D Lidar. The method is suitable for automatic walking of an operation machine tool. The method comprises the following steps: S1, collecting three-dimensional original point cloud data between lines of a target orchard; s2, preprocessing the three-dimensional original point cloud data; s3, performing Euclidean clustering; and S4, tree line fitting and navigation line generation. According to the method, the midpoint of the three-dimensional projection of the trunk is used for replacing the position of the trunk, trunk positioning between orchard lines is achieved, then the navigation line is extracted, and the method has the advantages of being small in operand, high in real-time performance, small in environmental interference, high in precision, high in robustness and the like.

Description

technical field [0001] The invention belongs to the technical field of three-dimensional point cloud processing, and in particular relates to a 3D Lidar-based orchard inter-row navigation line extraction method suitable for automatic walking of work tools. Background technique [0002] Orchard automatic navigation technology is the core to achieve human-machine separation and unmanned refined orchard management, and it is also a key technology for the development of smart agriculture in the future. At present, orchard automatic navigation technology mainly includes GNSS navigation, machine vision navigation, sound source navigation, multi-sensor fusion navigation and laser navigation according to environmental perception classification. For GNSS navigation, the ground walking satellite signal receiver is easily blocked by the growing and changing canopy branches and leaves during the fruit tree production period and loses positioning signals; for machine vision navigation, i...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G06K9/62G06T7/73G01S17/894
CPCG06T7/73G01S17/894G06F18/23
Inventor 何雄奎刘伟洪刘亚佳王志翀齐鹏韩冷
Owner CHINA AGRI UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com