Hedge nursery stock pruning and centering method based on binocular vision

Abstract

The invention relates to the technical field of hedge centering of hedge trimmers, in particular to a hedge nursery stock trimming centering method based on binocular vision, which comprises the following steps: S1, acquiring RGB images of hedges at different angles, and generating a point cloud through a parallax principle; S2, carrying out the recognition and segmentation of the hedge image through employing a target detection network, and obtaining the contour line of a hedge in the image; S3, filtering outliers by counting and judging the distance between each query point and the neighborhood point set, and removing point cloud outliers; S4, performing clustering filtering through the DBSCAN to remove clustered invalid point cloud sets; and S5, fitting the hedgerow point cloud, and obtaining a canopy model of the corresponding shape of the hedgerow through a certain number of iterations. According to the method, the hedge images at different angles are obtained and converted into the point cloud data, the shape category and geometric parameters of the hedge can be obtained through data processing of the images and the point cloud, the centering accuracy is high, and the operation efficiency is greatly improved.

Description

technical field [0001] The invention relates to the technical field of hedge centering of a hedge trimmer, in particular to a method for trimming and centering hedge seedlings based on binocular vision. Background technique [0002] In recent years, with the continuous development of China's economy and the advancement of urbanization, the market capacity and boundaries of urban landscaping construction have continued to expand, ushering in new opportunities for development. But what follows is the maintenance of urban greening. At present, many research institutions in China have conducted a certain degree of research on hedge trimmers. For example, Xi'an University of Technology has disclosed a green belt trimming system and its trimming method based on laser cutting. The application number is: CN201910151378.4, which can effectively reduce the Working noise, but because the laser beam can only cut planes, the application scenarios are relatively limited; Guangxi Universi...

AI Technical Summary

Problems solved by technology

There are two main disadvantages of this technology. One is that the process of aligning the position of the manipulator with the hedge is completely dependent on manual labor, and the alignment is mainly performed by human eyes through video. The degree requirements are relatively high; the second is that due to the non-complete symmetry of the hedge, it is easy to cause low alignment accuracy

Therefore, the hedge trimming efficiency is difficult to improve and the trimming quality is difficult to guarantee

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