Laser and Ultrasonic Banana Tree Ranging Method Based on Fitting Filter

Abstract

The invention discloses a laser and ultrasonic banana tree ranging method based on fitting filtering. The banana tree is measured by combining laser and ultrasonic sensors, and the distance measurement data of the two are mutually checked to filter out factors such as light caused by a single sensor. For distance measurement values ​​that lead to large errors, the least squares method and quadratic polynomial can better fit the distance data of banana trees measured at each sampling time within a period, and effectively filter out the distance data based on fitting quadratic polynomials and setting thresholds. Disturbances such as small shrubs and road bumps produce distance data with large deviations, and then calculate the average value of the three minimum values ​​in the filtered distance array, which is the shortest distance between the robot and the banana tree. The error rate of the ranging method of the present invention is 1.0%-2.0%, and the corresponding maximum ranging error is 1.0cm. The ranging stability is good, and it can provide accurate and reliable local positioning and navigation for the robot in the natural banana garden environment. distance data.

Description

technical field [0001] The invention relates to the technical field of distance measurement of banana picking robots, in particular to a method for distance measurement of banana trees based on fitting filtering and laser and ultrasonic waves. Background technique [0002] Banana is one of Lingnan's characteristic fruits and one of the main economic crops, with a large planting area. However, the weight of banana bunches in the right harvest period is generally around 30kg. Currently, banana harvesting is still dominated by traditional manual methods, which are completed by the cooperation of multiple people. Its labor intensity is high, labor cost is high, and picking efficiency is low, which seriously restricts the planting scale and economic benefits of bananas. Therefore, it is urgent to develop banana picking robots in order to realize the mechanization and intelligence of banana harvesting, improve picking efficiency and reduce picking costs. cost, solve the problem of...

AI Technical Summary

Problems solved by technology

Although laser ranging has faster response speed and higher accuracy, it is affected by ambient light; ultrasonic ranging is not affected by light, but the ranging time is related to the distance to be measured, and the object to be measured is required to have a certain reflective surface. Otherwise, the reflected wave is too weak, which may cause ranging failure

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