Walking control method and device based on laser and image information fusion

Abstract

The invention provides a walking control method and device based on laser and image information fusion, and the method comprises the steps: obtaining a laser reflection point column of a current region through a laser radar, and obtaining QR code information in a walking process through a code reading camera; performing linear fitting on the point column to obtain the pose of the crop column, and performing direction control according to the pose of the crop column; if the QR code is read in the driving process, reading field edge information in the QR code, and carrying out steering controlaccording to the read field edge information. The method uses the QR code to store the agricultural environment information which can comprise the information such as the edge-of-field passability and the edge-of-field number, and has the advantages of being low in cost, capable of providing abundant information and the like. Meanwhile, the method is not affected by shielding of crop branches and leaves and the like, and the defect that positioning precision is affected by shielding of GNSS and the like is overcome.

Description

technical field [0001] The invention relates to the field of agricultural information technology, in particular to a walking control method and device based on fusion of laser and image information. Background technique [0002] The automatic driving of agricultural machinery and the automatic operation under automatic driving conditions are the inevitable trend of future agricultural development. In order to achieve accurate control of vehicles and precise implementation of operations, stable, safe and accurate positioning of vehicles and equipment is crucial. [0003] With the popularization of mechanized operations and the continuous improvement of the standardization of crop cultivation, the overall agricultural environment can be divided into two parts: the row and the field; correspondingly, the walking control of agricultural machinery in the agricultural environment can also be divided into: the row Walking control and headland steering control. Correspondingly, ag...

AI Technical Summary

Problems solved by technology

However, the effective distance of this method is short and the cost is high. When the signal is shielded for a long time, especially when there are many metal objects, the error is large and the result is unreliable.

However, operating environments such as orchards or greenhouses are prone to signal shadowing due to the influence of leaves or the top structure of the greenhouse.

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