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Orchard inter-row path extraction method based on laser radar

An extraction method and lidar technology are applied in the field of orchard row-to-row path extraction and orchard row-to-row vehicle navigation based on lidar, which can solve the problem of difficulty in accurately extracting the navigation path, etc. The effect of improving the fitting accuracy

Pending Publication Date: 2020-11-24
NANJING FORESTRY UNIV
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Problems solved by technology

[0006] The purpose of the present invention is to solve the problem that the orchard inter-row path is difficult to accurately extract the navigation path under the conditions of vehicle yaw, lack of trees, curved tree rows, etc., and propose a method for extracting the orchard inter-row path based on laser radar

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  • Orchard inter-row path extraction method based on laser radar
  • Orchard inter-row path extraction method based on laser radar
  • Orchard inter-row path extraction method based on laser radar

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Embodiment Construction

[0054] Preferred embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although preferred embodiments of the invention are shown in the drawings, it should be understood that the invention may be embodied in various forms and should not be limited to the embodiments set forth herein.

[0055] The invention provides a method for extracting a path between rows of orchards based on laser radar, the method comprising the following steps:

[0056] S1. Use two-dimensional laser radar to scan the path between rows of the orchard, obtain distance measurement data from various angles as the trunk measurement data, and then perform median filtering on the aforementioned trunk measurement data, specifically:

[0057] S1-1. Use two-dimensional laser radar to obtain real-time measurement data of tree trunks around the vehicle, so that the scanning surface of the two-dimensional laser radar is parallel to the ground, the sca...

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Abstract

The invention provides an orchard inter-row path extraction method based on a laser radar. The method comprises the following steps: S1, scanning an orchard inter-row path through employing the two-dimensional laser radar, obtaining the distance measurement data of each angle as trunk measurement data, and carrying out the median filtering of the trunk measurement data; S2, setting a region of interest, and performing data screening on the trunk measurement data after median filtering to obtain measurement point data of adjacent tree rows; and S3, acquiring left and right tree row data by adopting a two-step tree row segmentation method, fitting left and right tree row straight lines, and taking a left and right tree row center line as a navigation path. Measurement noise of trunk data isweakened through median filtering, an oval ROI and a two-step segmentation method are provided for extracting adjacent tree rows on the two sides, then the center line of the tree rows is solved to serve as reference paths, and accuracy can be improved.

Description

technical field [0001] The invention relates to the technical field of orchard vehicle navigation, in particular to orchard inter-row vehicle navigation, in particular to a laser radar-based orchard inter-row path extraction method. Background technique [0002] Orchard vehicle navigation technology is the basis for implementing refined orchard management, which can effectively reduce the labor intensity of operators and improve the accuracy and efficiency of orchard operations. The automatic navigation technology performs path planning and vehicle body control based on the known operation information and environmental information, combined with the perception of dynamic environmental information by the vehicle's own sensors, and completes the corresponding orchard operation tasks. Commonly used navigation sensors include Global navigation satellite system (Global navigation satellite system, GNSS), inertial measurement unit (Inertial measurement unit, IMU), vision sensor, L...

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Application Information

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IPC IPC(8): G01S17/931
CPCG01S17/931
Inventor 李秋洁丁旭东邓贤
Owner NANJING FORESTRY UNIV
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