Orchard vehicle automatic navigation control system based on laser radar
A technology of laser radar and automatic navigation, which is applied in the control/regulation system, two-dimensional position/channel control, vehicle position/route/height control, etc. It can solve the problems of plant loss, vehicle yaw, etc., and achieve strong anti-interference , High ranging accuracy and good resolution
Active Publication Date: 2021-02-12
NANJING FORESTRY UNIV
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[0036] 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.
[0037] Such as figure 1 As shown, a lidar-based automatic navigation control system for orchard vehicles, which uses lidar to obtain tree trunk point cloud data and preprocesses; recognizes the start and end points of the trunk on the preprocessing results, and calculates the coordinates of the trunk center; combined with the K-Means algorithm The tree row straight line is fitted with the least square method, and an incremental PD controller is constructed as a navigation controller according to the centerline navigation path of the fitted tree row straight line. Specifically include the following steps:
[0038] Step 1. Instal...
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The invention discloses an orchard vehicle automatic navigation control system based on a laser radar. The orchard vehicle automatic navigation control system comprises the steps of adopting the laserradar to obtain trunk point cloud data and perform preprocessing; performing trunk start-stop point identification on the preprocessing result, and calculating trunk center coordinates; and fitting the tree line straight line by combining a K-Means algorithm and a least square method, and constructing an incremental PD controller as a navigation controller according to the center line navigationpath of the fitted tree line straight line. Trunk point cloud data are obtained through the laser radar, so that trunk center coordinates are calculated by recognizing trunk start and stop points, calculation and operation are carried out, and the problems of plant missing, vehicle yawing and the like in the orchard navigation process are greatly solved; and secondly, the automatic navigation control system provided by the invention is high in distance measurement precision, good in resolution and strong in interference resistance, and can quickly obtain accurate information and position of the trunk.
Description
technical field [0001] The invention relates to the technical field of orchard automatic navigation, and more particularly, relates to a laser radar-based automatic navigation control system for orchard vehicles. Background technique [0002] With the continuous development of science and technology, my country is developing towards "precision agriculture". The development of precision agriculture has driven the development of agricultural machinery towards automation and intelligence. Automatic navigation technology is the basis for realizing precision agriculture, which can effectively reduce labor intensity and liberate productivity. ,Increase productivity. At present, automatic navigation technology can be applied to production such as farming, irrigation, weeding, fertilization, etc., and it is of great significance to study automatic navigation control technology. The navigation system includes three parts: environment perception, path planning and navigation control, ...
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IPC IPC(8): G05D1/02G05D1/08G05B11/42G06T7/66G06T7/73G06K9/62G06F17/18
CPCG05D1/0231G05D1/0891G05B11/42G06T7/73G06T7/66G06F17/18G06T2207/10028G06T2207/10044G06F18/23213
Inventor 邓贤李秋洁高程前袁鹏成刘旭
Owner NANJING FORESTRY UNIV